U.S. patent number 7,974,677 [Application Number 12/473,557] was granted by the patent office on 2011-07-05 for method and apparatus for preplanning a surgical procedure.
This patent grant is currently assigned to Medtronic Navigation, Inc.. Invention is credited to Janice Dugger, Mark W. Hunter, David A. Mire, Hai H. Trieu.
United States Patent |
7,974,677 |
Mire , et al. |
July 5, 2011 |
Method and apparatus for preplanning a surgical procedure
Abstract
A method and system to assist in a selection and planning of
procedure and assist in selecting a prosthetic for the procedure.
Generally, the system allows for image acquisition of a selected
area of the anatomy. A model may be formed of the anatomy from the
acquired images. The system may also allow for navigational
tracking of the procedure to ensure that the procedure is
substantially carried out relative to the selected plan.
Inventors: |
Mire; David A. (Cordova,
TN), Trieu; Hai H. (Cordova, TN), Dugger; Janice
(Westminster, CO), Hunter; Mark W. (Broomfield, CO) |
Assignee: |
Medtronic Navigation, Inc.
(Louisville, CO)
|
Family
ID: |
34750642 |
Appl.
No.: |
12/473,557 |
Filed: |
May 28, 2009 |
Prior Publication Data
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Document
Identifier |
Publication Date |
|
US 20090234217 A1 |
Sep 17, 2009 |
|
Related U.S. Patent Documents
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Application
Number |
Filing Date |
Patent Number |
Issue Date |
|
|
10794716 |
Mar 5, 2004 |
7542791 |
|
|
|
10423515 |
Apr 25, 2003 |
|
|
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10354562 |
Jan 30, 2003 |
7660623 |
|
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|
Current U.S.
Class: |
600/407;
600/411 |
Current CPC
Class: |
G16H
50/50 (20180101); A61B 34/20 (20160201); A61B
34/10 (20160201); A61B 2034/252 (20160201); A61B
2034/102 (20160201); A61B 2034/107 (20160201); A61B
2034/2072 (20160201); G16H 30/20 (20180101); A61B
2090/365 (20160201); G16H 20/40 (20180101); A61B
2034/254 (20160201); A61B 2034/105 (20160201); A61B
2034/256 (20160201); A61B 34/25 (20160201); A61B
2034/2051 (20160201) |
Current International
Class: |
A61B
5/05 (20060101) |
Field of
Search: |
;600/407 ;378/42
;623/7.11 ;700/245 |
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|
Primary Examiner: Le; Long V
Assistant Examiner: Rozanski; Michael T
Attorney, Agent or Firm: Harness, Dickey
Parent Case Text
CROSS-REFERENCE TO RELATED APPLICATIONS
This application is a divisional of U.S. patent application Ser.
No. 10/794,716, filed on Mar. 5, 2004, which is a
continuation-in-part of U.S. patent application Ser. No. 10/423,515
filed on Apr. 25, 2003, which is a continuation-in-part of U.S.
patent application Ser. No. 10/354,562 filed on Jan. 30, 2003. The
disclosures of the above applications are incorporated herein by
reference.
Claims
What is claimed is:
1. A surgical system for use in a procedure to implant a prosthesis
relative to an anatomy, comprising: an imaging device to obtain
image data of a selected portion of the anatomy; a planning system
including a processor to execute operations relating to said image
data; wherein said imaging device is operable to generate image
data of the selected portion of the anatomy prior to the procedure
and the processor forms a model of the selected portion of the
anatomy in a coordinate system based on the image data; a display
displays a portion of the anatomy to be removed in the model; and
wherein said processor determines a volume of the selected portion
of the anatomy based on at least three measurements taken from the
model within the coordinate system and selects a procedure to be
performed on the selected portion of the anatomy and selects the
prosthesis to be implanted based on the determined volume.
2. The surgical system of claim 1, further comprising a user input
device such that said processor may receive an instruction from a
user and execute the instruction to perform a process.
3. The surgical system of claim 2, wherein said user input device
includes at least one of a keyboard, a mouse, a pointing device, a
touch sensitive display, or combinations thereof.
4. The surgical system of claim 2, wherein said planning system
further includes a work station including said user input device;
and a storage system operable to store a selected dataset including
said image data of the selected portion of the anatomy.
5. The surgical system of claim 1, wherein said imaging device is
selected from the group consisting of a fluoroscopic C-arm, a
magnetic resonance imaging system, an X-ray system, an ultrasound
system, a computed tomography system, and combinations thereof.
6. The surgical system of claim 1, wherein said planning system is
operable to display said model on said display, and said display
displays a portion of the anatomy to be completely removed in the
model along with a portion of the anatomy yet to be removed.
7. The surgical system of claim 1, further comprising a navigation
system including: a tracking system; and a tracking sensor; wherein
said navigation system is operable with said planning system to
perform the procedure according to a selected plan described with
said planning system.
8. The surgical system of claim 7, wherein said tracking system is
at least one of an electromagnetic tracking system, an optical
tracking system, an acoustic tracking system, or combinations
thereof.
9. The surgical system of claim 1, wherein said planning system is
operable to determine at least one of a selection of a procedure,
selection of an implant, or planning of a selected procedure.
10. The surgical system of claim 1, wherein said image data from
said imaging device is displayable on said display as an image;
wherein said image on said display allows at least one of a
selection of a procedure, selection of an implant, or planning of a
selected procedure.
11. The surgical system of claim 1, further comprising: a
navigation system including a tracking array and a tracking sensor;
wherein said planning system is operable to plan the procedure with
said image data; wherein said navigation system is operable to
navigate an instrument for substantially performing the planned
procedure.
12. The surgical system of claim 1, further comprising: a
navigation system and a tracking sensor; wherein said tracking
sensor is affixed to an implant; wherein said planning system is
operable to determine an implanted characteristic of said implant;
wherein said navigation system is operable to determine a location
of said tracking sensor to navigate a characteristic of said
implant to allow implantation of said implant with a selected
characteristic.
13. The surgical system of claim 1, further comprising: an implant
kit including a plurality of implants; wherein said planning system
is operable to select at least one of the plurality of the implants
to be positioned in the selected portion of the anatomy to achieve
a result.
14. The surgical system of claim 13, further comprising a memory
system wherein said memory system is operable to save the model
formed from said image data and a planned procedure for
retrieval.
15. The surgical system of claim 13, wherein said planning system
substantially autonomously selects the at least one of the
plurality of the implants based on the volume of the selected
portion of the anatomy measured from the model.
16. The surgical system of claim 13, wherein said planning system
selects the at least one of the plurality of the implants for at
least one of confirmation or selection by a user.
17. The surgical system of claim 1, further comprising a template
program, wherein said template program is executable by said
planning system for planning a selected procedure.
18. The surgical system of claim 17, wherein said template program
allows said planning system to select at least one of a size, a
geometry, a type or combinations thereof of an implant.
19. The surgical system of claim 17, wherein said template program
allows a user to select at least one of a size, a shape, a type, or
combinations thereof.
20. The surgical system of claim 1, wherein said planning system
includes a tracking system; wherein said planning system is
operable to plan at least one of a selection of an implant, a
volume to be removed, a geometry to be removed, or combinations
thereof; wherein said tracking system allows for tracking of at
least one of the removal of the selected volume, a shape of the
selected implant, or the selected geometry.
21. The surgical system of claim 1, further comprising an implant
including at least one of a spinal implant, a knee implant, a hip
implant, a shoulder implant, a wrist implant, a hand implant, an
arm implant, or combinations thereof.
22. A surgical system operable to obtain image data for use in a
procedure to position a prosthesis in a selected portion of an
anatomy, comprising: a planning system including a processor to
execute operations relating to the image data and forming an image
based model of the selected portion of the anatomy; a display that
displays the image based model; wherein the image data relates to
the selected portion of the anatomy prior to the procedure; wherein
said planning system is operable to measure a selected dimension of
the selected portion of the anatomy from the image based model and
to select a prosthesis based upon the measurement to substantially
mimic the selected dimension and to plan the procedure to achieve a
selected characteristic of the prosthesis at least in part based
upon the selected dimension, and the display displays an area of
the anatomy to be completely removed and an area of the anatomy yet
to be removed.
23. The surgical system of claim 22, further comprising: an implant
including at least one of an implant dimension, type, geometry, or
combinations thereof; wherein said planning system is operable to
select the implant including the at least one of an implant
dimension, type, geometry, or combinations thereof, and placement
to substantially fit the selected dimension of the selected portion
of the anatomy.
24. The surgical system of claim 23, further comprising: a tracking
system to track the implant during placement of the implant to
confirm placement of the implant.
25. The surgical system of claim 22, further comprising a user
input device such that said processor may receive an instruction
from a user and execute the instruction to perform a process.
26. The surgical system of claim 25, wherein said planning system
further includes a work station including said user input device;
and a storage system operable to store a selected dataset including
the image data of the selected portion of the anatomy.
27. The surgical system of claim 26, wherein said planning system
further includes an implant storage system, wherein said implant
storage system includes a data set of a plurality of implants;
wherein said planning system is operable to compare said data set
of the plurality of implants to said image data from the selected
portion of the anatomy to select at least one of the plurality of
the implants for implantation.
28. The surgical system of claim 22, further comprising: an imaging
system operable to collect image data regarding the selected
portion of the anatomy; wherein said processor is operable to form
a model of the selected portion of the anatomy with the image data
obtained by the imaging system.
29. The surgical system of claim 28, wherein the imaging system is
selected from the group consisting of a fluoroscopic C-arm, a
magnetic resonance imaging system, an X-ray system, an ultrasound
system, a computed tomography system, and combinations thereof.
30. The surgical system of claim 29: wherein said planning system
is operable to display said model on said display.
31. The surgical system of claim 22, further comprising a
navigation system including: a tracking system; and a tracking
sensor; wherein said navigation system is operable with said
planning system to perform the procedure according to a selected
plan described with said planning system.
32. The surgical system of claim 31, wherein said tracking system
is at least one of an electromagnetic tracking system, an optical
tracking system, an acoustic tracking system, or combinations
thereof.
33. The surgical system of claim 22, wherein said planning system
is operable to determine at least one of a selection of a
procedure, selection of an implant, planning of a selected
procedure, or combinations thereof.
34. The surgical system of claim 22, wherein the image based model
on said display allows at least one of a selection of a procedure,
selection of an implant, planning of a selected procedure, or
combinations thereof.
35. The surgical system of claim 22, further comprising: a
navigation system including a tracking array and a tracking sensor;
wherein said planning system is operable to plan the procedure with
the image data; wherein said navigation system is operable to
navigate an instrument for substantially performing the planned
procedure.
36. The surgical system of claim 22, further comprising: a
navigation system and a tracking sensor; wherein said tracking
sensor is affixed to an implant; wherein said navigation system is
operable to determine a location of said tracking sensor to
navigate a characteristic of said implant to allow implantation of
said implant with a selected implanted characteristic.
37. The surgical system of claim 22, further comprising: an implant
kit including a plurality of implants; wherein said planning system
is operable to select at least one of the plurality of the implants
to be positioned in the selected portion of the anatomy to achieve
a result.
38. The surgical system of claim 37, wherein said plurality of
implants include a plurality of implants of a hip implant, a knee
implant, a shoulder implant, a spinal implant, and combinations
thereof.
39. The surgical system of claim 37, further comprising a memory
system wherein said memory systems operable to save a modeled
portion formed from said image data and a planned procedure for
retrieval.
40. A surgical system for use in a procedure to position an implant
relative to an anatomy, comprising: an imaging device to obtain
image data of a selected portion of a spine of the anatomy; a
planning system including a processor to execute operations
relating to said image data; a display for displaying an area of
the anatomy to be removed; wherein said imaging device is operable
to generate image data of the selected portion of the anatomy prior
to the procedure; and wherein said processor determines a selected
dimension in said image data from said imaging device and selects
an implant based upon the determined selected dimension; and an
implant configured to be positionable relative to the selected
portion of the spine based on the selected dimension, the implant
having a characteristic that is adjustable during or after being
positioned relative to the selected portion of the anatomy, wherein
the characteristic includes a configuration of the implant that has
an implanted configuration different than an unimplanted
configuration.
41. The surgical system of claim 40 further comprising: a
confirmation system to compare at least one of an implanted status
and position of said implant to a selected planned status or
position determined with said planning system.
42. The surgical system of claim 41, wherein said confirmation
system includes a virtual digital subtraction system; wherein said
imaging device is operable to obtain image data of the selected
portion of the spine after said implant is positioned relative to
said selected portion of the spine and compare the after image data
to the image data used by said planning system to plan the
procedure.
43. The surgical system of claim 41, wherein said confirmation
system is operable to compare image data of the selected portion of
the spine in at least one of two dimensions, three dimensions, a
coronal plane, an axial plane, a sagittal plane, or combinations
thereof.
44. The surgical system of claim 41, further comprising: a tracking
system operable to track a position of said implant with at least
one of an electromagnetic sensor, an acoustic sensor, an optical
sensor or combinations thereof.
45. The system of claim 41, wherein the confirmation system
confirms the characteristic of the implant after the implant is
implanted.
46. The surgical system of claim 40, wherein said planning system
is operable to plan an alignment of said implant relative to the
selected portion of the spine during an operative procedure.
47. The surgical system of claim 46, wherein said alignment is
along at least one of a coronal plane, a sagittal plane, an axial
plane or combinations thereof.
48. The surgical system of claim 40, wherein said implant includes
a radio-opaque portion operable to be imaged with said image
device.
Description
FIELD
The present invention generally relates to planning and performing
a selected procedure, and more particularly relates to preoperative
planning of a procedure using various techniques and navigation to
ensure that the preoperative plan is performed.
BACKGROUND
Image guided medical and surgical procedures utilize patient images
obtained prior to or during a medical procedure to guide a
physician performing the procedure. Recent advances in imaging
technology, especially in imaging technologies that produce
highly-detailed, computer-generated two, three and four-dimensional
images, such as computed tomography (CT), magnetic resonance
imaging (MRI), isocentric C-arm fluoroscopic imaging, fluoroscopes
or ultrasounds have increased the interest in image guided medical
procedures. During these image guided medical procedures, the area
of interest of the patient that has been imaged is displayed on a
display. Surgical instruments and/or implants that are used during
this medical procedure are tracked and superimposed onto this
display to show the location of the surgical instrument relative to
the area of interest in the body. Other types of navigation systems
operate as an image-less system, where an image of the body is not
captured by an imaging device prior to the medical procedure, such
as the device disclosed in U.S. patent application Ser. No.
10/687,539, entitled Method And Apparatus For Surgical Navigation
Of A Multiple Piece Construct For Implantation, filed Oct. 16,
2003, incorporated herein by reference. With this type of
procedure, the system may use a probe to contact certain landmarks
in the body, such as landmarks on bone, where the system generates
either a two-dimensional or three-dimensional model of the area of
interest based upon these contacts. This way, when the surgical
instrument or other object is tracked relative to this area, they
can be superimposed on this model.
Most types of orthopedic medical procedures are performed using
conventional surgical techniques, such as spine, hip, knee,
shoulder, a synovial joint, and a facet joint. These techniques
generally involve opening the patient in a relatively invasive
manner to provide adequate viewing by the surgeon during the
medical procedure. These types of procedures, however, generally
extend the recovery period for the patient due to the extent of
soft tissue and muscular incisions resulting from the medical
procedure. Use of image guided technology in orthopedic medical
procedures would enable a more minimally invasive type of procedure
to be performed to thereby reduce the overall recovery time and
cost of the procedure. Use of the image guided procedure may also
enable more precise and accurate placement of an implant within the
patient.
Once the implant has been surgically positioned within the patient,
the patient's surrounding anatomy generally heals over time with
the surrounding skeletal and muscular structure regaining a healthy
state. However, since the implant is generally implanted when the
patient is dysfunctional, this muscular and skeletal adjustment or
healing may effect the subsequent range of motion, effectiveness,
life expectancy of the implant, performance of the implant, and
potentially cause deterioration of surrounding bones, discs,
vertebrae, hips, knees, etc., or implants. For example, in a spinal
implant, upon the abdominal and back muscles strengthening after
the implant procedure, the spine may subsequently align. This
alignment may result in the implant or articulation faces of the
implant being impinged because of the resultant alignment. This may
result in a revision-type surgery that requires the implant to be
removed and a subsequent implant being repositioned at the implant
site.
The surgical procedures performed during orthopedic medical
procedures, including spinal procedures, require the use of various
instruments, assemblies and jigs to perform the procedure.
Typically, jigs are used to support a single instrument that must
be attached to the area of interest when the instrument is being
used. Multiple jigs are thus typically required to be attached and
removed from the area of interest as the procedure progresses. Use
of multiple jigs and instruments, along with attaching and
reattaching to the area of interest provides for a tedious and time
consuming procedure. Moreover, inherent inaccuracies due to this
procedure may provide less than acceptable results.
It is, therefore, desirable to provide a method and apparatus for
post-operative adjustment or tuning of an implant, such as a spinal
implant using telemetric or minimally invasive techniques. It is
also desirable to provide an instrument assembly that may be
attached to the implant site, such as a spinal implant site, once
during the entire procedure, thereby reducing surgical time, costs,
as well as increasing surgical accuracy. It is further desirable to
provide a system and apparatus that assist in precise preoperative
planning and intraoperative navigation to position a selected
implant. For example, it may be desirable to substantially
determine a concise size, shape, volume, etc. of a implant prior to
performing a procedure to ensure that the procedure will achieve a
selected result. In addition, it is desirable to provide a system
that will allow for substantially precise placement and performing
of a procedure.
SUMMARY
A system may be used for both preoperative planning and navigation
during an operative procedure. Preoperative planning may be used to
plan and confirm a selected procedure and select an implant for
performing the procedure. For example, though not intended to be
limiting, a selected disc or nucleus implant may be selected
depending upon an image acquired of a patient and various
measurements, such as size, shape, volume, location in the spine,
(cervical, thoracic, lumbar), range of motion, and others, relating
to the disc or nucleus to be replaced. Various other procedures may
be performed with the system, such as knee implant selection, a
thermal hip stem selection and others. In addition, the system may
be used to navigate and perform the procedure to ensure that the
selected plan is followed to achieve a result.
According to various embodiments a surgical system for a procedure
pertaining to an anatomy is disclosed. The system includes an
imaging device to obtain an image of a selected portion of the
anatomy. A planning system may also be provided that includes a
processor to execute operations relating to the image. The imaging
device is operable to image the selected portion of the anatomy
prior to the procedure. The processor is operable to determine a
selected dimension in the image from the imaging device.
According to various embodiments, a method of performing a
procedure to position a prosthesis in a selected portion of an
anatomy is disclosed. The method includes acquiring an image of the
selected portion of the anatomy and forming a model of the selected
portion of the anatomy. A dimension of the model may be measured
and a prosthesis may be selected based upon the measurement.
According to various embodiments a method of planning a procedure
to implant a prosthetic into a portion of an anatomy includes
selecting the portion of the anatomy. A model may be formed of the
selected portion of the anatomy that is manipulable with a
workstation. A procedure may be selected to be performed on the
selected portion of the anatomy and a prosthetic may be selected to
be implanted during the procedure.
According to various embodiments a surgical system operable to
obtain image data for a procedure pertaining to a selected portion
of an anatomy is disclosed. The system includes a planning system
having a processor to execute operations relating to the image
data. The image data relates to the selected portion of the anatomy
prior to the procedure. The planning system is also operable to
determine a selected dimension of the selected portion of the
anatomy from the image data.
According to various embodiments a method of performing a procedure
to position a prosthesis in a selected portion of an anatomy
includes acquiring image data of the selected portion of the
anatomy. A dimension of the anatomical portion may be measured and
a prosthesis may be selected based at least in part of the
measurement.
According to various embodiments a surgical system for a procedure
pertaining to an anatomy is disclosed. The system may include an
imaging device to obtain image data of a selected portion of a
spine of the anatomy The system may further include a planning
system including a processor to execute operations relating to the
image data. The imaging device may generate image data of the
selected portion of the anatomy prior to the procedure. The
processor may determine a selected dimension in the image data from
the imaging device. An implant may be positioned relative to the
selected portion of the spine based on the selected dimension.
According to various embodiments a method of performing a procedure
to position a prosthesis in a selected portion of a spinal region
is disclosed. The method includes acquiring image data of the
selected portion of the spinal region and measuring an anatomical
dimension of the selected portion of the anatomy with the acquired
image data. A prosthesis may be selected based upon the
measurement.
Further areas of applicability of the present invention will become
apparent from the detailed description provided hereinafter. It
should be understood that the detailed description and specific
examples, while indicating the preferred embodiment of the
invention, are intended for purposes of illustration only and are
not intended to limit the scope of the invention.
BRIEF DESCRIPTION OF THE DRAWINGS
The present invention will become more fully understood from the
detailed description and the accompanying drawings, wherein:
FIG. 1 is a diagram of a navigation system employing a display
according to the teachings of the present invention;
FIGS. 2a and 2b are diagrams representing undistorted and distorted
views of a fluoroscopic C-arm imaging device;
FIGS. 3a and 3b is a logic block diagram illustrating a method for
employing the display according to the teachings of the present
invention;
FIGS. 4a-4e illustrate a medical procedure employing the display
according to the teachings of the present invention;
FIG. 5 is a figure of the display according to the teachings of the
present invention;
FIG. 6 is a split screen view of the display according to the
teachings of the present invention;
FIG. 7 is an additional split screen view of the display according
to the teachings of the present invention;
FIGS. 8a-8g illustrate another medical procedure employing the
display according to the teachings of the present invention;
FIG. 9 is an illustration of a dual display according to the
teachings of the present invention;
FIG. 10 is a logic block diagram illustrating a method for
pre-operative planning and post-operative exam and tuning of an
implant according to the teachings of the present invention;
FIG. 11 is a perspective view of a platform and jig used in a
minimally invasive surgical navigation spinal procedure;
FIG. 12 is a perspective view of the jig that is operable to be
attached to the platform of FIG. 11;
FIG. 13 is a side view of a cervical disc implant having a
minimally invasive adjustment mechanism;
FIG. 14 is a side view of a cervical disc implant having a
telemetric adjustment mechanism;
FIG. 15 illustrates an implant of FIGS. 14 and 15 implanted into a
spine;
FIG. 16 is a side cross-sectional view of a cervical disc implant
according to the teachings of the present invention;
FIGS. 16a-16c are an unfolded and partially folded view of other
embodiment of a cervical disc implant according to the teachings of
the present invention;
FIG. 17 is a side cross-sectional view of another cervical disc
implant according to the teachings of the present invention;
FIG. 18 illustrates a cervical disc system employing multiple
cervical disc implants according to the teachings of the present
invention;
FIG. 19 illustrates a transmit/receive module used during the
motion analysis study of a patient according to the teachings of
the present invention;
FIG. 20 illustrates a home based transmit/receive module used for a
motion analysis study according to the teachings of the present
invention;
FIG. 21 is a diagrammatic representation of a method according to
various embodiments of planning a procedure;
FIG. 22 is a view of a display including a model of a portion of an
anatomy for planning a procedure;
FIG. 23 is a view of a display including a model of a portion of an
anatomy for planning a procedure with a template sizer program;
FIG. 24A is a plan view of an exemplary implant kit;
FIG. 24B is a plan view of an implant according to various
embodiments that may be included in the kit of FIG. 24A;
FIG. 25 is a view of a display including a model of a portion of an
anatomy for navigating an instrument according to a pre-operative
plan; and
FIG. 26 is a view of a display including a model of a portion of an
anatomy for navigating an instrument according to a pre-operative
plan.
DETAILED DESCRIPTION OF VARIOUS EMBODIMENTS
The following description of embodiments is merely exemplary in
nature and is in no way intended to limit the invention, its
application, or uses. Moreover, while the invention is discussed in
detail below in regard to orthopedic/spinal surgical procedures,
the present invention may be used with any type of medical
procedure, including orthopedic, cardiovascular, neurovascular,
soft tissue procedures, or any other medical procedures.
FIG. 1 is a diagram illustrating a five or six degree of freedom (5
or 6 DOF) alignment display 10 employed with an image guided
navigation system 12 for use in navigating a surgical instrument or
implant during a medical procedure. It should also be noted that
the display 10 may be used or employed in an image-less based
navigation system, further discussed herein. The navigation system
12 may be used to navigate any type of instrument or delivery
system, such as a reamer, impactor, cutting block, saw blade,
catheter, guide wires, needles, Rongeur instrument, drug delivery
systems, cell delivery systems, and nucleus implant delivery
systems. The navigation system 12 may also be used to navigate any
type of implant including orthopedic implants, spinal implants,
cardiovascular implants, neurovascular implants, soft tissue
implants, or any other devices implanted in a patient 14. The
navigation system 12 may also be used to navigate implants or
devices that are formed as an assembly or from multiple components
where the location and orientation of each component is dependent
upon one another to be effective in its use. For example, during a
spinal procedure, the display may be used to track and align a
spinal screw with a spinal rod to insure attachment of each
device.
The navigation system 12 includes an imaging device 16 that is used
to acquire pre-operative or real-time images of the patient 14. The
imaging device 16 may be a fluoroscopic imaging device that is
incorporated into a C-arm configuration that includes a moveable
C-arm 18, an x-ray source 20, an x-ray receiving section 22, an
optional calibration and tracking target 24 and optional radiation
sensors 26. The optional calibration and tracking target 24
includes calibration markers 28 (see FIGS. 2a-2b), further
discussed herein. It will be understood, however, that any
appropriate imaging system may be used, including those discussed
here.
A controller 30 captures the x-ray images received at the receiving
section 22 and stores the images for later use. If a C-arm
configuration is used to hold and/or move the imaging system 16,
the controller 30 may also control the rotation of the C-arm 18,
including the imaging system 16. For example, the C-arm 18 may move
in the direction of arrow 32 or rotate about the long axis of the
patient 14, allowing anterior or lateral views of the patient 14 to
be imaged. Each of these movements involve rotation about a
mechanical axis 34 of the C-arm 18. In this example, the long axis
of the patient 14 is substantially in line with an axis of motion
34 of the C-arm 18. This enables the C-arm 18 to be moved relative
to the patient 14, allowing images of the patient 14 to be taken
from multiple directions or about multiple planes. An example of a
fluoroscopic x-ray imaging device 16 is the "Series 9600 Mobile
Digital Imaging System," from OEC Medical Systems, Inc., of Salt
Lake City, Utah. Other exemplary fluoroscopes include bi-plane
fluoroscopic systems, ceiling fluoroscopic systems, cath-lab
fluoroscopic systems, fixed C-arm configuration fluoroscopic
systems, etc.
In operation, the imaging device 16 generates x-rays from the x-ray
source 20 that propagate through the patient 14 and calibration
and/or tracking target 24, into the x-ray receiving section 22. The
receiving section 22 generates an image representing the
intensities of the received x-rays. Typically, the receiving
section 22 includes an image intensifier that first converts the
x-rays to visible light and a charge coupled device (CCD) video
camera that converts the visible light into digital images.
Receiving section 22 may also be a digital device that converts
x-rays directly to digital images, thus potentially avoiding
distortion introduced by first converting to visible light. With
this type of digital imaging device, which is generally a flat
panel device, the calibration and/or tracking target 24 and the
calibration process discussed below may be eliminated. Also, the
calibration process may be eliminated for different types of
medical procedures. Alternatively, the imaging device 16 may only
take a single image with the calibration and tracking target 24 in
place. Thereafter, the calibration and tracking target 24 may be
removed from the line-of-sight of the imaging device 16.
Two dimensional fluoroscopic images taken by the imaging device 16
are captured and stored in the controller 30. These images are
forwarded from the controller 30 to a controller or work station 36
having the display 10 that may either include a single display 10
or a dual display 10 and a user interface 38. The work station 36
provides facilities for displaying on the display 10, saving,
digitally manipulating, or printing a hard copy of the received
images, as well as the five or six degree of freedom display. The
user interface 38, which may be a keyboard, joy stick, mouse, touch
pen, touch screen or other suitable device allows a physician or
user to provide inputs to control the imaging device 16, via the
controller 30, or adjust the display settings, such as safe zones
of the display 10, further discussed herein. The work station 36
may also direct the controller 30 to adjust the rotational axis 34
of the C-arm 18 to obtain various two-dimensional images along
different planes in order to generate representative
two-dimensional and three-dimensional images. When the x-ray source
20 generates the x-rays that propagate to the x-ray receiving
section 22, the radiation sensors 26 sense the presence of
radiation, which is forwarded to the controller 30, to identify
whether or not the imaging device 16 is actively imaging. This
information is also transmitted to a coil array controller 48,
further discussed herein. Alternatively, a person or physician may
manually indicate when the imaging device 16 is actively imaging or
this function can be built into the x-ray source 20, x-ray
receiving section 22, or the control computer 30.
Fluoroscopic imaging devices 16 that do not include a digital
receiving section 22 generally require the calibration and/or
tracking target 24. This is because the raw images generated by the
receiving section 22 tend to suffer from undesirable distortion
caused by a number of factors, including inherent image distortion
in the image intensifier and external electromagnetic fields. An
empty undistorted or ideal image and an empty distorted image are
shown in FIGS. 2a and 2b, respectively. The checkerboard shape,
shown in FIG. 2a, represents the ideal image 40 of the checkerboard
arranged calibration markers 28. The image taken by the receiving
section 22, however, can suffer from distortion, as illustrated by
the distorted calibration marker image 42, shown in FIG. 2b.
Intrinsic calibration, which is the process of correcting image
distortion in a received image and establishing the projective
transformation for that image, involves placing the calibration
markers 28 in the path of the x-ray, where the calibration markers
28 are opaque or semi-opaque to the x-rays. The calibration markers
28 are rigidly arranged in pre-determined patterns in one or more
planes in the path of the x-rays and are visible in the recorded
images. Because the true relative position of the calibration
markers 28 in the recorded images are known, the controller 30 or
the work station or computer 36 is able to calculate an amount of
distortion at each pixel in the image (where a pixel is a single
point in the image). Accordingly, the computer or work station 36
can digitally compensate for the distortion in the image and
generate a distortion-free or at least a distortion improved image
40 (see FIG. 2a). A more detailed explanation of exemplary methods
for performing intrinsic calibration are described in the
references: B. Schuele, et al., "Correction of Image Intensifier
Distortion for Three-Dimensional Reconstruction," presented at SPIE
Medical Imaging, San Diego, Calif., 1995; G. Champleboux, et al.,
"Accurate Calibration of Cameras and Range Imaging Sensors: the
NPBS Method," Proceedings of the IEEE International Conference on
Robotics and Automation, Nice, France, May, 1992; and U.S. Pat. No.
6,118,845, entitled "System And Methods For The Reduction And
Elimination Of Image Artifacts In The Calibration Of X-Ray
Imagers," issued Sep. 12, 2000, the contents of which are each
hereby incorporated by reference.
While the fluoroscopic imaging device 16 is shown in FIG. 1, any
other alternative imaging modality may also be used or an
image-less based application may also be employed, as further
discussed herein. For example, isocentric fluoroscopy, bi-plane
fluoroscopy, ultrasound, computed tomography (CT), multi-slice
computed tomography (MSCT), magnetic resonance imaging (MRI), high
frequency ultrasound (HIFU), optical coherence tomography (OCT),
intra-vascular ultrasound (IVUS), 2D, 3D or 4D ultrasound,
intraoperative CT, MRI, or O-arms having single or multi flat
panels receivers that move about the ring to acquire fluoroscopic
images may also be used to acquire pre-operative or real-time
images or image data of the patient 14. Image datasets from hybrid
modalities, such as positron emission tomography (PET) combined
with CT, or single photon emission computer tomography (SPECT)
combined with CT, could also provide functional image data
superimposed onto anatomical data to be used to confidently reach
target sights within the areas of interest. It should further be
noted that the fluoroscopic imaging device 16, as shown in FIG. 1,
provides a virtual bi-plane image using a single-head fluoroscope
16 by simply rotating the C-arm 18 about at least two planes, which
could be orthogonal planes to generate two-dimensional images that
can be converted to three-dimensional volumetric images that can be
displayed on the six degree of freedom display 10.
The navigation system 12 further includes an electromagnetic
navigation or tracking system 44 that includes a transmitter coil
array 46, the coil array controller 48, a navigation probe
interface 50, an instrument 52 having an electromagnetic tracker
and a dynamic reference frame 54. It should further be noted that
the entire tracking system 44 or parts of the tracking system 44
may be incorporated into the imaging device 16, including the work
station 36 and radiation sensors 26. Incorporating the tracking
system 44 will provide an integrated imaging and tracking system.
Any combination of these components may also be incorporated into
the imaging system 16, which again can include a fluoroscopic C-arm
imaging device or any other appropriate imaging device. Obviously,
if an image-less procedure is performed, the navigation and
tracking system 44 will be a stand alone unit.
The transmitter coil array 46 is shown attached to the receiving
section 22 of the C-arm 18. However, it should be noted that the
transmitter coil array 46 may also be positioned at any other
location as well, particularly if the imaging device 16 is not
employed. For example, the transmitter coil array 46 may be
positioned at the x-ray source 20, within the OR table 56
positioned below the patient 14, on siderails associated with the
OR table 56, or positioned on the patient 14 in proximity to the
region being navigated, such as by the patient's pelvic area. The
transmitter coil array 46 includes a plurality of coils that are
each operable to generate distinct electromagnetic fields into the
navigation region of the patient 14, which is sometimes referred to
as patient space. Representative electromagnetic systems are set
forth in U.S. Pat. No. 5,913,820, entitled "Position Location
System," issued Jun. 22, 1999 and U.S. Pat. No. 5,592,939, entitled
"Method and System for Navigating a Catheter Probe," issued Jan.
14, 1997, each of which are hereby incorporated by reference.
The transmitter coil array 46 is controlled or driven by the coil
array controller 48. The coil array controller 48 drives each coil
in the transmitter coil array 46 in a time division multiplex or a
frequency division multiplex manner. In this regard, each coil may
be driven separately at a distinct time or all of the coils may be
driven simultaneously with each being driven by a different
frequency. Upon driving the coils in the transmitter coil array 46
with the coil array controller 48, electromagnetic fields are
generated within the patient 14 in the area where the medical
procedure is being performed, which is again sometimes referred to
as patient space. The electromagnetic fields generated in the
patient space induces currents in sensors 58 positioned in the
instrument 52, further discussed herein. These induced signals from
the instrument 52 are delivered to the navigation probe interface
50 and subsequently forwarded to the coil array controller 48. The
navigation probe interface 50 provides all the necessary electrical
isolation for the navigation system 12. The navigation probe
interface 50 also includes amplifiers, filters and buffers required
to directly interface with the sensors 58 in instrument 52.
Alternatively, the instrument 52 may employ a wireless
communications channel as opposed to being coupled directly to the
navigation probe interface 50.
The instrument 52 is equipped with at least one, and may include
multiple localization sensors 58. In this regard, the instrument 52
may include an orthogonal pair coil sensor 58 or a tri-axial coil
sensor 58 or multiple single coil sensors 58 positioned about the
instrument 52. Here again, the instrument 52 may be any type of
medical instrument or implant. For example, the instrument may be a
catheter that can be used to deploy a medical lead, be used for
tissue ablation, or be used to deliver a pharmaceutical agent. The
instrument 52 may also be an orthopedic instrument, used for an
orthopedic procedure, such as reamers, impactors, cutting blocks,
saw blades, drills, drill guides, distracters, awls, taps, probes,
screw drivers, etc. The instrument 52 may also be any type of
neurovascular instrument, cardiovascular instrument, soft tissue
instrument, etc. Finally, the instrument 52 may be an implant that
is tracked, as well as any other type of device positioned and
located within the patient 14. These implants can include
orthopedic implants, neurovascular implants, cardiovascular
implants, soft tissue implants, spinal implants, nucleus implants,
cranial implants, or any other devices that are implanted into the
patient 14. Particularly, implants that are formed from multiple
components where the location and orientation of each component is
dependent upon the location and orientation of the other component,
such that each of these components can be tracked or navigated by
the navigation and tracking system 44 to be displayed on the six
degree of freedom display 10.
In an alternate embodiment, the electromagnetic sources or
generators may be located within the instrument 52 and one or more
receiver coils may be provided externally to the patient 14 forming
a receiver coil array similar to the transmitter coil array 46. In
this regard, the sensor coils 58 would generate electromagnetic
fields, which would be received by the receiving coils in the
receiving coil array similar to the transmitter coil array 46.
Other types of localization or tracking may also be used with other
types of navigation systems, which may include an emitter, which
emits energy, such as light, sound, or electromagnetic radiation,
and a receiver that detects the energy at a position away from the
emitter. This change in energy, from the emitter to the receiver,
is used to determine the location of the receiver relative to the
emitter. These types of localization systems include conductive,
active optical, passive optical, ultrasound, sonic,
electromagnetic, etc. An additional representative alternative
localization and tracking system is set forth in U.S. Pat. No.
5,983,126, entitled "Catheter Location System and Method," issued
Nov. 9, 1999, which is hereby incorporated by reference.
Alternatively, the localization system may be a hybrid system that
includes components from various systems.
The dynamic reference frame 54 of the electromagnetic tracking
system 44 is also coupled to the navigation probe interface 50 to
forward the information to the coil array controller 48. The
dynamic reference frame 54 is a small magnetic field detector or
any other type of detector/transmitter that is designed to be fixed
to the patient 14 adjacent to the region being navigated so that
any movement of the patient 14 is detected as relative motion
between the transmitter coil array 46 and the dynamic reference
frame 54. This relative motion is forwarded to the coil array
controller 48, which updates registration correlation and maintains
accurate navigation, further discussed herein. The dynamic
reference frame 54 can be configured as a pair of orthogonally
oriented coils, each having the same center or may be configured in
any other non-coaxial coil configuration. The dynamic reference
frame 54 may be affixed externally to the patient 14, adjacent to
the region of navigation, such as the patient's spinal region, as
shown in FIG. 1 or on any other region of the patient. The dynamic
reference frame 54 can be affixed to the patient's skin, by way of
a stick-on adhesive patch. The dynamic reference frame 54 may also
be removably attachable to fiducial markers 60 also positioned on
the patient's body and further discussed herein.
Alternatively, the dynamic reference frame 54 may be internally
attached, for example, to the spine or vertebrae of the patient
using bone screws that are attached directly to the bone. This
provides increased accuracy since this will track any motion of the
bone. Moreover, multiple dynamic reference frames 54 may also be
employed to track the position of two bones relative to a joint.
For example, one dynamic reference frame 54 may be attached to a
first vertebra, while a second dynamic reference frame 54 may be
attached to a second vertebra. In this way, motion of the spine or
vertebrae may be detected by the dual dynamic reference frames 54.
An exemplary dynamic reference frame 54 and fiducial marker 60, is
set forth in U.S. Pat. No. 6,381,485, entitled "Registration of
Human Anatomy Integrated for Electromagnetic Localization," issued
Apr. 30, 2002, which is hereby incorporated by reference.
The dynamic reference frame 54 may be affixed or connected to the
vertebrae in any appropriate manner. For example a pin or rod may
interconnect the dynamic reference frame 54 and the vertebrae.
Other mechanisms may be provided to reduce rotation, such as teeth
or barbs that extend from the rod and further engage the vertebrae
that reduce rotation of the rod and the dynamic reference frame 54.
Various exemplary systems are disclosed in U.S. Pat. Nos. 6,226,548
and 6,203,543, each incorporated herein by reference. This may
allow the dynamic reference frame 54 to be attached to the
vertebrae substantially percutaneously.
Also the workstation 38, or any appropriate portion of the system,
may provide for a check of the placement of the dynamic reference
frame in the image space. For example, unintended rotational or
other movement may occur. The system, including software, may be
used to determine that at least one of the dynamic reference frames
54 have moved. During a cycle of the software, or any other
appropriate time, the system may check to ensure that the dynamic
reference frame 54 is in a selected location. If it is not the user
may re-register the patient 14. Alternatively a second dynamic
reference frame, of known movement and relative location to the
first dynamic reference frame, may be used to re-register or
correlate the inadvertent movement of the first dynamic reference
frame.
Regardless, the system may be able to determine that the dynamic
reference frame is in a location other than a selected or known
location. For example, the system may determine that the dynamic
reference frame may have moved an amount greater than expected or a
direction, such as rotation about its axis of fixation to the
patient, other than one expected. The system, including the
workstation 38, may then provide an alert, such as an audible or
visual alert, to a user that the unexpected movement has occurred.
The user can then re-register the patient 14 or an autonomous
re-registration may be completed with the workstation 38.
Briefly, the navigation system 12 operates as follows. The
navigation system 12 creates a translation map between all points
in the radiological image generated from the imaging device 16 and
the corresponding points in the patient's anatomy in patient space.
After this map is established, whenever a tracked instrument 52 is
used, the work station 36 in combination with the coil array
controller 48 and the controller 30 uses the translation map to
identify the corresponding point on the pre-acquired image, which
is displayed on display 10. This identification is known as
navigation or localization. An icon representing the localized
point or instrument is shown on the display 10, along with five or
six degrees of freedom indicia.
In addition, the dynamic reference frame 54 may include coils that
are tracked with an electromagnetic (EM) tracking system. In such a
system the dynamic reference frame may include a plurality of coils
placed in a known geometry and distance from each other. Then,
during a use of the dynamic reference frame 54 the system may
determine whether interference is obscuring a true measurement of
the dynamic reference frame 54. For example, a metal object may
create eddy current induced in the EM coils. Thus the system may
both determine a location of the dynamic reference frame 54 and the
relative location of each of the plurality of EM coils in the
dynamic reference frame 54. The system can then compare the
relative sensed location and/or placement of the EM coils to the
known geometry of the coils and select the most appropriate coil
that is providing the signal. For example, if three coil are placed
at a selected angle, such as 120 degrees, and a known distance,
such as 2 mm, from the others this known information can be used to
determine which coil is the least interfered. That is the coil that
sensed most precisely relative to the other known coils is the coil
that is more precise in that field.
To enable navigation, the navigation system 12 will detect both the
position of the patient's anatomy 14 and the position of the
surgical instrument 52. Knowing the location of these two items
allows the navigation system 12 to compute and display the position
of the instrument 52 in relation to the patient 14. The tracking
system 44 is employed to track the instrument 52 and the anatomy
simultaneously. While the display 10 is configured to show the
instrument with six degree of freedom accuracy.
The tracking system 44 essentially works by positioning the
transmitter coil array 46 adjacent to the patient space to generate
a low-energy magnetic field generally referred to as a navigation
field. Because every point in the navigation field or patient space
is associated with a unique field strength, the electromagnetic
tracking system 44 can determine the position of the instrument 52
by measuring the field strength at the sensor 58 location. The
dynamic reference frame 54 is fixed to the patient 14 to identify
the location of the patient 14 in the navigation field. The
electromagnetic tracking system 44 continuously recomputes the
relative position of the dynamic reference frame 54 and the
instrument 52 during localization and relates this spatial
information to patient registration data to enable image guidance
of the instrument 52 within the patient 14.
Patient registration is the process of determining how to correlate
the position of the instrument 52 on the patient 14 to the position
on the diagnostic, pre-acquired, or real-time images. To register
the patient 14, the physician or user will select and store
particular points from the pre-acquired images and then touch the
corresponding points on the patient's anatomy with a pointer probe
62. The navigation system 12 analyzes the relationship between the
two sets of points that are selected and computes a match, which
correlates every point in the image data with its corresponding
point on the patient's anatomy or the patient space. The points
that are selected to perform registration are the fiducial arrays
or landmarks 60. Again, the landmarks or fiducial points 60 are
identifiable on the images and identifiable and accessible on the
patient 14. The landmarks 60 can be artificial landmarks 60 that
are positioned on the patient 14 or anatomical landmarks 60 that
can be easily identified in the image data. Other types of
registration may be point registration, contour surface
registration, isocentric registration, automatic registration, and
any other appropriate system or method of registering a patient
space to an image space. The system 12, such as the system
disclosed in U.S. patent application Ser. No. 10/644,680, entitled
Method and Apparatus for Performing 2D to 3D Registration, filed
Aug. 20, 2003, incorporated herein by reference, may also perform
2D to 3D registration by utilizing the acquired 2D images to
register 3D volume images by use of contour algorithms, point
algorithms, normalized mutual information, pattern intensity, or
density comparison algorithms, as is known in the art.
In order to maintain registration accuracy, the navigation system
12 continuously tracks the position of the patient 14 during
registration and navigation. This is necessary because the patient
14, dynamic reference frame 54, and transmitter coil array 46 may
all move during the procedure, even when this movement is not
desired. Therefore, if the navigation system 12 did not track the
position of the patient 14 or area of the anatomy, any patient
movement after image acquisition would result in inaccurate
navigation within that image. The dynamic reference frame 54 allows
the electromagnetic tracking device 44 to register and track the
anatomy. Because the dynamic reference frame 54 is rigidly fixed to
the patient 14, any movement of the anatomy or the transmitter coil
array 46 is detected as the relative motion between the transmitter
coil array 46 and the dynamic reference frame 54. This relative
motion is communicated to the coil array controller 48, via the
navigation probe interface 50, which updates the registration
correlation to thereby maintain accurate navigation.
It should also be understood that localization and registration
data may be specific to multiple targets. For example, should a
spinal procedure be conducted, each vertebra may be independently
tracked and the corresponding image registered to each vertebra. In
other words, each vertebra would have its own translation map
between all points in the radiological image and the corresponding
points in the patient's anatomy in patient space in order to
provide a coordinate system for each vertebra being tracked. The
tracking system 44 would track any motion in each vertebra by use
of a tracking sensor 58 associated with each vertebra. In this way,
dual displays 10 may be utilized, further discussed herein, where
each display tracks a corresponding vertebra using its
corresponding translation map and a surgical implant or instrument
52 may be registered to each vertebra and displayed on the display
10 further assisting an alignment of an implant relative to two
articulating or movable bones. Moreover, each separate display in
the dual display 10 may superimpose the other vertebra so that it
is positioned adjacent to the tracked vertebra thereby adding a
further level of information on the six degree of freedom display
10.
As an alternative to using the imaging system 16, in combination
with the navigation and tracking system 44, the five or six degree
of freedom alignment display 10 can be used in an imageless manner
without the imaging system 16. In this regard, the navigation and
tracking system 44 may only be employed and the probe 62 may be
used to contact or engage various landmarks on the patient. These
landmarks can be bony landmarks on the patient, such that upon
contacting a number of landmarks for each bone, the workstation 36
can generate a three-dimensional model of the bones. This model is
generated based upon the contacts and/or use of atlas maps. The
workstation 36 may also generate a center axis of rotation for the
joint or planes, based upon the probe contacts. Alternatively, the
tracking sensor 58 may be placed on the patient's anatomy and the
anatomy moved and correspondingly tracked by the tracking system
44. For example, placing a tracking sensor 58 on the femur and
fixing the pelvis in place of a patient and rotating the leg while
it is tracked with the tracking system 44 enables the work station
36 to generate a center of axis of the hip joint by use of
kinematics and motion analysis algorithms, as is known in the art.
If the pelvis is not fixed, another tracking sensor 58 may be
placed on the pelvis to identify the center of axis of the hip
joint. If a tracking sensor 58 is placed on the femur and a
tracking sensor 58 is placed on the tibia, upon moving this portion
of the anatomy, a center of axis of the knee joint may be
identified. Likewise, by placing a separate tracking sensor 58 on
two adjacent vertebra and articulating the spine, the center of
axis of the spinal region can also be identified. In this way, a
target and/or model based on the center of the particular joint may
be designated and identified on the six degree of freedom display
10. Movement of the instrument or implant 52 may then be tracked in
relation to this target and/or model to properly align the
instrument or implant 52 relative to the target and/or model.
Turning to FIGS. 3a and 3b, the method of employing the six degree
of freedom display 10 is described in further detail. The method 64
begins by determining whether an image based medical procedure will
be employed or an image-less medical procedure will be employed. If
the image based procedure is being employed, the method proceeds
along the first branch. In this regard, when an image based
procedure will be utilized, the method begins at block 66
identifying the image tracking procedure. From block 66, the method
proceeds to block 68 where images are generated by the imaging
system 16. This imaging is performed at the area of interest of the
patient 14 by any type of imaging device as previously discussed.
Once images have been generated at block 68, the method proceeds to
block 70 where calibration and registration is performed. In block
70, calibration of the imaging device 16 takes place using the
calibration targets 28. Additionally, registration of the
pre-acquired images from block 68 are registered to the patient
space of the medical procedure utilizing the fiducial markers 60
and probe 62 as previously discussed. This registration registers
the current patient space with the pre-acquired image, so that the
instrument 52 or other devices may be tracked during the medical
procedure and accurately superimposed over the pre-acquired images
generated from the imaging device 16.
If an image-less medical procedure is selected, the method begins
at block 72 identifying that an image-less based medical procedure
will be performed. This method proceeds to either block 74
identifying a first way to generate image-less models or block 76
identifying a second way to generate image-less models. At block
74, the probe 62 is used to contact the body at various anatomical
landmarks in the area of interest, such as a bone. For example, by
touching the probe 62 to the pelvis, knee, ankle, and spine,
articulation planes can be defined using known algorithms and the
center of each joint may also be defined. An example of this type
of modeling is set forth in U.S. Pat. No. 5,682,886, which is
hereby incorporated by reference. Alternatively, multiple
anatomical landmarks can be contacted with the probe 62 to generate
a 3-D model with the more points contacted, the more accurate the
model depicted.
Secondly, to generate a model at block 76, a tracking device is
placed on the body and the body rotated about the joint. When this
is done, the plane of rotation and joint center can be identified
using known kinematic and/or motion analysis algorithms or using
atlas maps or tables, as is known in the art. Once the area of
interest has been probed, via block 74 or block 76, a model is
generated at block 78. This model can be a 3-D surface rendered
model, a 2-D model identifying articulating planes or a 3-D model
identifying articulating planes and rotation, as well as the center
of the joints. This enables the display 10 to use the joint centers
or articulating planes as the target or trajectory, further
discussed herein.
With each of the procedures 74 or 76, the procedure may be
initially based on the use of atlas information or a 3-D model that
is morphed, to be a patient specific model. In this regard, should
the femur be the area of interest, an accurate representation of an
ordinary femur may be selected from an atlas map, thereby providing
an initial 2-D or 3-D model representing a typical anatomical
femur. As with block 74, upon contacting numerous areas on the
actual femur with the probe 62, the atlas model may be morphed into
a patient specific 3-D model, with the more points contacted, the
more accurate the morphed model. Patient specific information may
also be acquired using an ultrasound probe to again identify the
shape of the patient's natural femur in order to morph the atlas
model. A fluoroscopic image of the region may also be used to morph
the patient's femur with the atlas model to provide a patient
specific morphed model. Proceeding under block 76 and assuming that
the area of interest is the hip joint, an atlas model of the femur
and pelvis may be the initial starting point. Upon rotating and
moving the femur relative to the pelvis, a patient specific morphed
model may be created to generate accurate joint centers and axes of
motion again using known kinematics and/or motion analysis
algorithms
Once the image data is calibrated and registered at block 70 or the
model is generated at block 78, the method proceeds to block 80. At
block 80, the specific type of coordinate system is selected, which
will be displayed by indicia on the six degree of freedom display
10. The coordinate systems can be a Cartesian coordinate system, a
spherical coordinate system, or a polar coordinate system. By way
of example, the Cartesian coordinate system will be selected. The
Cartesian coordinate system will include the X, Y, and Z axes, and
X rotation, Y rotation, and Z rotation about its respective
axes.
With reference to FIG. 5, the six degree of freedom display 10 is
shown in further detail employing the Cartesian coordinate system.
In this regard, the X axis 82 and the Y axis 84 are shown
positioned on the display 10. The Z axis 86 extends out from the
display 10 and is shown in the upper left corner. Rotation about
the X axis is shown by bar graph 88 to the right of the display 10
and rotation about the Y axis is shown by bar graph 90 positioned
at the bottom of the display 10. Rotation about the Z axis is shown
with the arcuate bar graph 92 oriented about the X and Y axes 82
and 84. Each axis, as well as the rotation axes identified by the
bar graphs may be color coded to identify safe zones or regions for
the item being tracked or navigated. In this regard, the safe zones
can be defined as ranges around the planned trajectory path or
target where the safe zones are determined by manufactured
determined parameters, user determined parameters or patient
specific parameter, further discussed herein.
Arrow indicator 94 identifies the degree of rotation about the X
axis 82. Arrow indicator 96 shows the amount of rotation about the
Y axis 84. Arrow 98 identifies the rotation about the Z axis, while
arrow 100 identifies the depth being tracked along the Z axis 86.
The origin 102 may be set to be the desired target position or
trajectory path. The crosshairs 104 represents the tip of the
instrument 52 being tracked, while the circle 106 represents the
hind area of the instrument 52 being tracked. With the
understanding that the instrument 52 can be any type of medical
device or implant. Also, if five degree of freedom information is
provided, one of the indicia 82, 84, 86, 88, 90, and 92 will be
removed.
Once the coordinate system is selected at block 80, the method
proceeds to block 108 where the target or trajectory is selected.
The target or trajectory selected at block 108 is typically
positioned at the origin 102 on the display 10. In this way, the
object being tracked or aligned may be tracked and aligned about
the origin 102. Alternatively, the target may be identified at any
coordinate within the display 10 or multiple targets may also be
identified within the single display 10. An indicia of the target
may also be positioned on the display 10. The target is selected
based upon the desired area to position the instrument 52 and can
be selected from the pre-acquired images or from the 3-D model.
Once selected, this target is correlated to the display 10 and
generally positioned at the origin 102.
Once the target/trajectory is selected at block 108, such as the
origin 102, the method proceeds to block 110 where the safe zones
are identified for each degree of freedom. Referring again to FIG.
5, the safe zones 112 are identified for each degree of freedom by
color coding. For example, the safe zone 112 for the X axis is
between -2.5 and +2.5. The safe zone 112 for rotation about the X
axis is between -50 and +50 of rotation about the X axis. The user
can simply guide the instrument 52 using the cross hairs 104 and
circle 106 to align the instrument 52 within these designated safe
zones 112. Again, these safe zones 112 may be determined by
manufacture specifications, such as tolerance range of the
instruments or positions for implants. The safe zones 112 may also
be determined based on the patient, the surgeon conducting the
procedure, or any other factors to assist a surgeon in navigating
the instrument 52 through the patient 14. These safe zones 112 may
also be identified via an audible signal or tone or a varying tone.
The safe zones 112 may also be identified by any other convenient
manner to be set out on the display 10.
Once the safe zones 112 are identified for each degree of freedom
in block 110, the method proceeds to block 114 where the target
trajectory in the selected coordinate system is displayed with the
safe zones 112, as shown in FIG. 5. At block 116, if an image based
method is being conducted, a decision whether to superimpose the
image over the target/trajectory is made. Alternatively, the image
may be placed adjacent to the target trajectory display, as is
shown in FIG. 6, and further discussed herein. Should the
image-less based medical procedure be conducted, at block 118, a
determination is made whether to superimpose the model that was
generated at block 78. Here again, this model may be superimposed
over the target/trajectory display on display 10 or may be
positioned adjacent to the target/trajectory display in a split
screen or on a separate display.
Once the target/trajectory 102 is displayed along with the safe
zones 112 in the proper coordinate system, as shown in FIG. 5, the
method proceeds to block 120 where the first implant/instrument 52
is tracked with the navigation system 44. With the
implant/instrument 52 being tracked at block 120, the method
proceeds to block 122 wherein indicia representing the
implant/instrument 52 is displayed on the display 10, with either
five or six degrees of freedom information. Here again, referring
to FIG. 5, the indicia representing the implant/instrument 52 is
the crosshairs 104 and the circle 106 designating the tip and hind,
respectively. The tip 104 and hind 106 is represented in relation
to the target/trajectory path 102 in six degrees of freedom. This
six degrees of freedom include the X and Y locations, as well as
the depth Z of the implant/instrument 52 displayed. In addition,
the rotation about each of the axes is also provided. This rotation
can be helpful in many applications, including orthopedic, where
rotation specific components need to be positioned relative to one
another. For example, in a spinal application, alignment of a
pedicle screw in relation to a spinal rod or spinal implant, would
require information regarding the rotation of the screw relative to
the rod or implant. In cardiac procedures, this may be useful where
ablation is necessary on a certain side of an artery and the
ablation electrode is only positioned on one side of the catheter.
In this situation, rotation of the catheter relative to the target
in the artery is critical. In a neuro procedure, a biopsy needle
may only have a biopsy port positioned upon one portion of the
circumference of the needle, thereby requiring the rotation of the
biopsy needle to be known in order to provide the proper capture of
the relevant biopsy sample. Without this display, this information
would not be available.
With the indicia of the implant/instrument 52 being displayed, the
implant/instrument 52 is aligned or fixed with the
target/trajectory 102 at block 124. In this regard, the tip 104 and
the hind 106 are aligned and fixed relative to the
target/trajectory 102 at the origin and the rotational orientation
is also aligned to the desired position. Again, the
target/trajectory 102 may not be positioned at the origin and can
be positioned anywhere within the coordinate system if desired. As
shown in FIG. 5, the tip 104 of the implant/instrument 52 is shown
aligned with the target 102, while the hind 106 is slightly offset
from the target/trajectory 102. Once the implant/instrument 52 is
aligned and fixed relative to the target/trajectory 102, the method
proceeds to block 126.
At block 126, a determination is made as to whether there is a
second implant/instrument 52 to be tracked. If there is not a
second implant/instrument 52 to be tracked, the method ends at
block 128. Should there be a second implant/instrument 52 to track,
such as a corresponding implant component that articulates with the
first implant, the method proceeds to block 130. At block 130, a
second target/trajectory 102 is selected, which is based upon the
alignment or fixation of the first implant/instrument 52 relative
to the first target/trajectory 102. In this regard, if the surgeon
is not able to position the first implant/instrument 52 at the
desired target/trajectory 102, this offset from the
target/trajectory 102 may affect the second implant, which possibly
articulates or mates with the first implant. If this is the case,
the second target/trajectory 102 will need to take into
consideration this offset in order to provide proper articulation
and alignment of the first implant component with the second
implant component.
With minimally invasive types of procedures, the implant may also
have numerous components with each component articulating or mating
with another component, thereby requiring tracking of each
component as it is implanted during the minimally invasive
procedure. This second target/trajectory 102 may be displayed on a
separate display 10 (see FIG. 1), positioned via a split screen of
a single display 10 or may be superimposed upon the existing
display that displays the first target 102 and implant position. In
this way, orientation and placement of both the first and second
implants, which are dependent upon one another can be shown in the
display 10 providing the surgeon the opportunity to adjust either
position of either implant intraoperatively before the implants are
permanently affixed to the patient 14. These types of implants
include knee implants, hip implants, shoulder implants, spinal
implants, or any other type of implant, which has a bearing surface
and an articulating surface or any type of implant having multiple
mating and connecting components.
Once the second target/trajectory 102 has been selected at block
130, the method proceeds to block 132. At block 132, the safe zones
112 for each degree of freedom is selected for the second
implant/instrument 52 similar to the way the first set of safe
zones 112 were selected for the first implant/instrument 52. Once
the second safe zones 112 are selected, the method proceeds to
block 134. At block 134, the display 10 displays the second
target/trajectory 102 in the same coordinate system with the second
safe zones 112. Here again, at block 136, if it is an image based
medical procedure, the pre-acquired image may be superimposed on to
the target/trajectory 102. Alternatively, this image can be
positioned adjacent the target screen in a split screen
configuration (see FIGS. 6 and 7). If the method is proceeding as
an image-less type medical procedure, at block 138, decision is
made whether to superimpose the generated model from block 78. Once
the target/trajectory 102 is in the proper coordinate system with
the safe zone 112 are displayed at display 10, the surgical
implant/instrument 52 is tracked at block 140. Here again, the
second implant/instrument 52 can be tracked on a separate display
10 or be tracked on the same display as the first
implant/instrument 52.
Alternatively, separate displays 10 may be used where information
is linked between the displays showing the second
implant/instrument 52 in relation to the first implant/instrument
52. With the second implant/instrument 52 being tracked at block
140, the second implant/instrument 52 is displayed in relation to
the second target/trajectory 102 in five or six degrees of freedom
at block 142. Again, this may be a separate display 10, a split
screen display 10 with both the first target/trajectory 102 and the
second target/trajectory 102 or the same display 10 displaying both
targets/trajectories 102. While the second implant/instrument 52 is
being displayed, the second implant/instrument 52 is aligned and
fixed at the second target/trajectory 102 at block 144. Once the
second implant/instrument 52 is fixed at block 144, the method
proceeds to block 146.
At block 146, a determination is made whether the alignment or
fixation of the first and second implants/instruments 52 are
correct. In this regard, with two separate displays 10 linked or
with a single display 10, showing both targets/trajectories 102, a
surgeon can determine whether each implant/instrument 52 is within
its desired safe zones 112 and, therefore, optimally positioned for
proper articulation. Here again, these safe zones 112 may be color
coded for the different safe zones provided. If both implants are
positioned and fixed at the proper targets, the method ends at
block 148. If one or both of the implants are not properly
positioned, adjustment of the first or second target/trajectory 102
is performed at block 150. Once either or both targets are
adjusted, realignment of the first and/or second
implants/instruments 52 are performed at block 152. Here again,
since multiple component implants are dependent upon one another
with respect to their position and orientation, alignment and
adjustments of the targets/trajectories 102 may be performed
several times until the optimum placement for each is performed at
repeat block 154. Thereafter, the method terminates at end block
156.
While the above-identified procedure is discussed in relation to an
orthopedic medical procedure in which an implant having multiple
implant components is implanted within a patient using the six
degree of freedom display 10, it should be noted that the six
degree of freedom display 10 may be used to track other medical
devices as well. For example, as was briefly discussed, an ablation
catheter generally has an electrode positioned only on one angular
portion of its circumference. Likewise, the wall of an artery
typically has a larger plaque build-up on one side. Therefore, it
is desirable to align that ablation electrode with the proper side
of the artery wall during the procedure. With the six degree of
freedom display 10, the surgeon can easily identify the location,
depth and angular rotation of the catheter relative to the artery
wall. Other types of procedures may require the medical instrument
or probe to be properly oriented and located within the patient,
such as identifying and tracking tumors, soft tissue, etc. By
knowing and displaying the six degree of freedom movement of the
medical device on the display 10, the medical procedure is
optimized.
It should also be pointed out that the method discussed above
requires that the implant/instrument 52 have a tracking sensor
associated therewith in order to identify the location of the
tracked device in six degrees of freedom and display it on the
display 10. The tracking sensors may be attached directly to
implants, attached to the instruments that engage the implants or
attach to members extending out from the implants. These tracking
sensors again may be electromagnetic tracking sensors, optical
tracking sensors, acoustic tracking sensors, etc. Examples of
various targets, which may or may not be superimposed on the
display again include orthopedic targets, spinal targets,
cardiovascular targets, neurovascular targets, soft tissue targets,
etc. Specific examples include again the location of the plaque on
a wall of an artery, the center of an articulating joint being
replaced, the center of the implant placement, etc. By displaying
two targets, either on separate displays or on the same display,
the surgeon can dynamically plan and trial implant placements by
moving one component of the implant to see where the other
articulating component of the implant should be positioned. In this
way, the surgeon can trial the implant confirming its placement and
orientation, via the display 10 before the implant is permanently
affixed to the patient 14.
In a spinal procedure, two adjacent vertebra bodies can be tracked
and displayed on two separate displays. In this way, if a single
jig, such as a cutting jig is used to cut both the surface of the
first vertebra and the surface of the second vertebra, orientation
of the jig may be displayed on each separate display in relation to
the corresponding vertebra being acted upon, thereby enabling
simultaneous tracking of the two planes being resected for each
separate vertebra on a dual display system. It will be understood
that the tracked planes can be aligned or intersect in any
appropriate manner or by any appropriate mechanism. For example,
the planes may intersect at a selected point, such that the planes
are not substantially parallel. In addition, the planes can be
selected by a user, a system, a jig, an implant, or any other
appropriate mechanism. Therefore, it will be understood that while
two planes may be tracked substantially simultaneously, they can be
defined or oriented in any appropriate manner. Additionally, each
vertebra may be displayed on each of the dual displays so that the
vertebra being tracked is shown with the adjacent vertebra
superimposed adjacent thereto. Once the vertebra bodies are
prepared, the implant is typically placed between each vertebra on
the prepared site. Other ways of preparing this site is by using
drills, reamers, burrs, trephines or any other appropriate cutting
or milling device.
Briefly, the method, as shown in FIGS. 3a and 3b, demonstrates that
the display 10 illustrated both the position and orientation of an
object with respect to a desired position and orientation with six
degrees of freedom accuracy. The display 10 may be automatically
updated in real-time using the navigation system 44 to report the
orientation of the tracked device. The user may also adjust the
display 10 in order to control a device's orientation. The display
10 again consists of three rotational indicators (RX, RY, RZ) and
three translational indicators or indicia (TX, TY, TZ). Each
indicator shows both visual and quantitative information about the
orientation of the device. Each indicator also displays a
predetermined safe zone 112 and application-specific label for each
degree of freedom. As noted, it may also be relevant to overlay the
display 10 over anatomical image data from the imaging device 16.
When working with 3-D image data sets, the anatomy normal to the
tip 104 of the positioned device can provide the user with
additional positional information.
Tones, labels, colors, shading, overlaying with image data can all
be modified and incorporated into the display 10. The current
display 10 is also shown as a Cartesian coordinate based display,
but again could be based on a polar based display or a spherical
based display and a quick switch between both can be supplied or
simultaneously displayed. The display can also be configured by the
user to hide parameters, location, size, colors, labels, etc.
Some medical applications that may be commonly displayed and linked
to the display 10 are: 1) reaming of an acetabular cup with major
focus upon RY and RZ, 2) length of leg during hip and knee
procedures focused upon TZ and RZ, 3) biopsies and ablations
focused upon RX, RY, and RZ for direction of the therapy device,
and 4) catheters with side ports for sensing information or
delivery of devices, therapies, drugs, stem cells, etc. focused
upon six degree of freedom information.
Referring now to FIGS. 4a-4e, a medical procedure employing a six
degree of freedom alignment display 10 is shown in further detail.
In this example, an orthopedic medical procedure replacing the hip
joint is illustrated. During this procedure, various instruments
52, as well as the implants 52 are tracked and aligned using the
six degree of freedom display 10. Referring specifically to FIG.
4a, a femur 160 having a femoral head 162 is illustrated, along
with a pelvis 164 having an acetabulum 166. Assuming that the
medical procedure being performed is an image based system, this
area of interest will be imaged by the imaging device 16. Here
again, the dynamic reference frame 54 may be attached to the femur
154 or the pelvis 164 or two dynamic frames 54 may be attached, one
to each bone to provide additional accuracy during the medical
procedure. With the head 162 dislocated from the acetabulum 166, a
center of articulation of the acetabulum 166 is identified as the
target 168, shown in FIG. 6.
In this regard, FIG. 6 illustrates the display 10 configured as a
split screen with the right identifying the six degree of freedom
display and the left illustrating the pre-acquired image with the
center of articulation 168 being the intersection of the X, Y, and
Z axes. As illustrated in FIG. 4a, a reamer 170 having a tracking
sensor 58 is shown reaming the acetabulum 166. The tracking system
44 is able to accurately identify the navigation of the tip and
hind of the reamer 170. As illustrated in FIG. 6, in the right half
of the split screen, one can observe that the tip represented by
the crosshairs 172 is properly positioned along the X and Y
coordinates and within the corresponding safe zones 112, however,
the hind portion of the instrument 170, as identified by the circle
174, is angularly offset from the target 168 at the origin. The
surgeon can then angularly adjust the hind portion 174 of the
instrument 170 until the hind portion 174 is shown in the display
10 as positioned over the crosshairs 172, thereby assuring proper
alignment of the reaming device 170 for subsequent proper placement
of the acetabular cup implant. By tracking the reamer 170, the
surgeon can be relatively confident that an acetabular cup implant
will be properly positioned before the implant is even impacted
into the acetabulum 166.
Turning to FIG. 4b, an acetabular cup 178 is shown being impacted
into the reamed acetabulum 166, via the tracked guide tool 180 with
an impactor 182. The guide tool 180 has a distal end, which is
nestingly received within the acetabular cup 178. Thus, by tracking
the instrument 180, via tracking sensor 58, orientation of the
acetabular cup 178 may be displayed on the display 10 in six
degrees of freedom. In this way, before the acetabular cup 178 is
impacted into the acetabulum 166, the surgeon can view on the
display 10 whether the acetabular cup 178 is properly positioned at
the proper angular orientation, as shown in FIG. 7, the impactor
180 is shown superimposed over an image generated by the imaging
device 16. In this way, the proper orientation, including abduction
and anteversion is achieved before the acetabular cup 178 is
permanently implanted.
Once the acetabular cup 178 has been impacted, the femoral head 162
is resected along a plane 184 by use of a cutting guide 186, having
the tracking sensor 58 and a saw blade 188. By using the center of
the femoral head 162 as the second target, the cutting plane 184
may be properly defined to provide proper articulation with the
acetabular cup 178 before a hip stem is implanted in the femur 160.
Here again, the second target is dependent upon the first target.
Thus, if the acetabular cup 178 was implanted somewhat offset from
its target, the second target may be properly compensated to
accommodate for this offset by use of the display 10. In this
regard, a second display illustrating the target for the cutting
plane 184 may be provided.
Once the femoral head 162 of the femur 160 has been resected, as
shown in FIG. 4d, a reamer 190 is employed to ream out the
intramedullary canal 192 of the femur 160. In order to provide
proper angular orientation of the reamer 190, as well as the depth,
a subsequent target can be defined and identified on the display 10
and tracked by use of the tracking sensor 58. This target may be
displayed separately or in combination with the previously acquired
targets. By insuring the proper angle of the reamer 190 relative to
the longitudinal axis of the femur 160 is tracked and displayed on
display 10, the surgeon can be provided a higher level of
confidence that the hip stem will be properly positioned within the
intramedullary canal 192.
Once the intramedullary canal 192 has been reamed by the reamer
190, a hip stem 194 is impacted with an impactor 196 into the
intramedullary canal 192. By targeting the acetabular cup location,
along with the resection plane 184 and the reaming axis of the
reamer 190, upon positioning the hip stem 194, within the femur
160, proper articulation and range of motion between the acetabular
cup 178 and the hip stem 194 is achieved without time consuming
trialing as is conducted in conventional orthopedic procedures.
Thus, by providing the safe zones 112 in relation to the hip stem
194 size, proper articulation with the acetabular cup 178 is
achieved. Here again, while an example of an orthopedic hip
replacement is set out, the six degree of freedom display 10 may be
utilized with any type of medical procedure requiring visualization
of a medical device with six degree freedom information.
The six degree of freedom display 10 enables implants, devices and
therapies that have a specific orientation relative to the patient
anatomy 14 to be properly positioned by use of the display 10. As
was noted, it is difficult to visualize the correct placement of
devices that require five or six degree of freedom alignment. Also,
the orientation of multiple-segment implants, devices, or therapies
in five and six degrees of freedom so that they are placed or
activated in the correct orientation to one another is achieved
with the display 10. Since the location and orientation is
dependent upon one another to be effective, by having the proper
orientation, improved life of the implants, the proper degrees of
motion, and patient outcome is enhanced. Also, the six degree of
freedom display 10 may be used as a user input mechanism by way of
keyboard 38 for controlling each degree of freedom of a surgical
robotic device. In this regard, the user can input controls with
the joystick, touch screen or keyboard 38 to control a robotic
device. These devices also include drill guide holders, drill
holders, mechanically adjusted or line devices, such as orthopedic
cutting blocks, or can be used to control and drive the alignment
of the imaging system 16, or any other type of imaging system.
Since multiple implants and therapies, or multi-segment/compartment
implants require multiple alignments, the display 10 may include a
stereo display or two displays 10. These displays may or may not be
linked, depending on the certain procedure. The target
point/location (translation and orientation of each implant
component is dependent upon the other implant placement or
location). Therefore, the adjustment or dynamic targeting of the
dependent implant needs to be input to the dependent implant and
visually displayed. Again, this can be done by two separate
displays or by superimposing multiple targets on a single display.
Many implants such as spinal disc implants, total knee and total
hip replacements repair patient anatomy 14 by replacing the anatomy
(bone, etc.) and restoring the patient 14 to the original
biomechanics, size and kinematics. The benefit of the six degree of
freedom alignment display 10 is that original patient data, such as
the images can be entered, manually or collectively, via the
imaging device 16 or image-less system used for placement of the
implant. Again, manually, the user can enter data, overlay
templates, or collect data, via the imaging system 16. An example,
as discussed herein of an application is the alignment of a femoral
neck of a hip implant in the previous patient alignment. The
previous patient alignment can be acquired by landmarking the
patient femoral head by using biomechanics to determine the center
and alignment of the current line and angle of the femoral head.
This information can be used as the target on the display 10 in
order to properly align the implant replacing the femoral head.
The six degree of freedom display 10 also provides orientation
guidance on a single display. Separate visual and quantitative
read-outs for each degree of freedom is also displayed on the
display 10. Visual representations or indicia of procedure-specific
accepted values (i.e., a "safe zone 112") for each degree of
freedom is also clearly displayed on the display 10. These safe
zones 112 are displayed as specifics or ranges for the user to
align or place within. The procedure specific accepted values for
the safe zones 112 can be manufacture determined, user determined,
patient specific (calculated) or determined from algorithms (finite
element analysis, kinematics, etc. atlas or tables). It can also be
fixed or configurable. Safe zones 112 can also be defined as ranges
around a planned trajectory path or the specific trajectory path
itself (range zero). The trajectory paths are input as selected
points by the user or paths defined from the patient image data
(segmented vascular structure, calculated centers of bone/joints,
anatomical path calculated by known computed methods, etc.).
Turning now to FIGS. 8a-8g, another medical procedure that may
employ the six degree of freedom alignment display 10 is shown in
further detail, along with FIG. 9 illustrating the use of the
display 10 during this medical procedure. In this example, a spinal
medical procedure that implants a cervical disc implant between two
vertebrae is illustrated. During this procedure, various
instruments 52, as well as the implant 52 are tracked and aligned
using the six degree of freedom display 10. Also, the bony
structures during the procedure are also tracked.
Referring specifically to FIG. 8a, a first vertebra or vertebral
body 200 is shown positioned adjacent to a second vertebra or
vertebral body 202 of the spine. Assuming that the medical
procedure is being performed in an image based system, this area of
interest would be imaged by the imaging device 16. Again, a dynamic
reference frame 54 may be attached to the first vertebra 200 and a
second dynamic reference frame 54 may be attached to the second
vertebra 202. These dynamic reference frames 54 may also be
combined with tracking sensors 58, which are shown attached to the
vertebral bodies 200 and 202. A center of articulation of the
vertebra 200 and a center of articulation of a vertebra 202 may be
identified as the targets 168 on the dual display illustrated on
FIG. 9. In this way, by utilizing the center of articulation of
each vertebral body with respect to each other as the targets 168,
tracking of the instruments 52 used during the procedure, as well
as the implant 52 with respect to these articulation centers may be
achieved. This center of articulation or instantaneous center of
rotation is identified as the "X" along axis Y. A plane or axis X
is shown perpendicular to the longitudinal or spinal axis Y. This
axis is where the implant, as well as milling should be performed
or centered around. The implant may be positioned in any
appropriate manner relative to the anatomical portions of the
patient. For example, the implant may be positioned around and
relative to the sagittal and/or coronal planes of the anatomy.
Referring to FIG. 8b, a cam distracter instrument 204 is shown
distracting the vertebra 200 relative to the vertebra 202. The cam
distracter 204 may be tracked, via another tracking sensor 58
affixed to the cam distracter 204. In this way, the six degree of
freedom display 10 illustrated in FIG. 9 can illustrate a location
of the cam distracter 204 relative to the center of each vertebra
200 and 202 independently on the display. Since the instrument 204
is rigid, by locating the tracking sensor 58 on the instrument 204,
the distal end of the instrument 204 is known and may be
illustrated on the display 10 using crosshairs 104 and circle 106
to represent the tip and hind, respectively.
Once each vertebrae 200 and 202 have been distracted by the cam
distracter 204, a sagittal wedge 206 also having a tracking sensor
58 is utilized and shown in FIG. 8c. The sagittal wedge 206 is used
to center each vertebrae 200 and 202, along the sagittal plane and
again may be tracked and displayed with six degree of freedom on
the display 10, as illustrated in FIG. 9. In this regard, the
surgeon can confirm both visually and via the display 10 that the
sagittal wedge 206 is centered on the sagittal plane between the
vertebrae 200 and 202, as well as obtain the proper depth, via the
Z axis display 86 on the display 10, illustrated in FIG. 9.
Once the sagittal centering has been achieved with the sagittal
wedge 206, the medical procedure proceeds to burring as shown in
FIG. 8d. In this regard, a burr 208 attached to a burring hand
piece 210, also having a tracking sensor 58, is used to burr an
area between the first vertebra 200 and the second vertebra 202.
Here again, the orientation of the burr 208 relative to each
vertebrae 200 and 202 may be displayed on the display 10 with six
degree of freedom information. Therefore, burring along the proper
X and Y plane, as well as the proper depth may be visually
displayed with the appropriate indicia, as illustrated in FIG. 9.
Rotational information about the corresponding X, Y and Z axes is
also displayed. By burring within the safe zones 112 using the
information regarding the surgical implant 52 as the safe zones
112, the surgeon can be assured to perform the proper burring
between the vertebrae 200 and 202 to insure a proper oriented fit
for the surgical implant 52. By tracking the burr 208 with six
degrees of freedom information, the mounting anchors 212 for the
hand piece 210 are optional and may not be required. Additionally,
each single display in the dual display 10, as shown in FIG. 9, may
also superimpose an image of each vertebrae 200 and 202 relative to
one another on the display with each display having its coordinate
system referenced to one of the vertebrae. The resulting milled
vertebrae 200 and 202 are shown in FIG. 8e with a ring portion 214
milled to receive the spinal implant 52.
Referring to FIGS. 8f and 8g, the spinal implant 52 is shown being
implanted between the vertebrae 200 and 202 using an implant
inserter 216 that is also tracked by tracking sensor 58. The spinal
implant 52 may be any type of cervical or other spinal disc implant
for any other area of the spine. For example, the spinal implant
may be the spinal implant disclosed in U.S. Pat. No. 5,674,296,
entitled "Human Spinal Disc Prosthesis," issued Oct. 7, 1997, U.S.
Pat. No. 5,865,846, entitled "Human Spinal Disc Prosthesis," issued
Feb. 2, 1999, also known as the Bryan Cervical Disc System, offered
by Medtronic Sofamor Danek of Minneapolis, Minn. or the Prestige
Cervical Disc System, also offered by Medtronic Sofamor Danek, or
any other spinal disc implant, all of which are hereby incorporated
by reference. By tracking the implant inserter 216 relative to the
vertebrae 200 and 202, proper orientation of the spinal implant 52,
as well as rotational orientation about the Z axis can be clearly
displayed on the six degree of freedom display 10, as shown in FIG.
9. Rotation about the Z axis is used to make sure that the flanges
218 of the implant 52 are properly oriented and centered along the
sagittal plane, as shown in FIG. 8g. Again, by using the display
10, as illustrated in FIG. 9, the anchors 220 are optional since
orientation of the implant 52 can be tracked continuously as it is
inserted between the vertebrae 200 and 202. Here again, this
eliminates the need for forming holes in the vertebrae 200 and 202.
It should further be noted that the implant 52 illustrated in these
figures is merely an exemplary type of spinal implant and any known
spinal implants may also be similarly tracked. For example, another
common type of spinal implant is formed from a two-piece unit that
includes a ball and cup articulating structure that may likewise be
independently tracked to assure proper fit and placement.
Here again, the six degree of freedom display 10, which is
illustrated as a split or dual display 10 in FIG. 9 assists a
surgeon in implanting a spinal implant 52 in order to achieve
proper fixation and orientation of the implant 52, relative to two
movable vertebrae 200 and 202. By tracking each vertebra 200 and
202 independently, and tracking its resection, should one vertebra
be resected off-plane due to anatomical anomalies, adjustment of
the plane at the adjacent vertebra may be achieved in order to
still provide a proper fit for the spinal implant 52. In this way,
each vertebrae 200 and 202 can be independently monitored, so that
if one is off axis, the other can be manipulated accordingly to
account for this adjustment. Additionally, by monitoring the entire
process having six degree of freedom information, via display 10,
further accuracy was achieved, thereby providing increased range of
motion for the patient after implantation of the implant 52.
By use of the six degree of freedom display, for the various types
of medical procedures, improved results can be achieved by
providing the surgeon with the necessary information required. In
regard to surgical implants, the range of motion may be increased
while reducing impingement of two-part articulating or fixed
implants. This also enables maximum force transfer between the
implant and the body. With therapy delivery procedures, by knowing
the location of the catheter delivery tube and the specific port
orientation, accurately aiming at the site is enabled to provide
maximum delivery of the therapy at the correct site. This procedure
also enhances and enables better results when using an ablation
catheter by again knowing the rotational orientation of the
ablation catheter and the ablation electrode relative to the area
in the wall of the artery that requires ablation. Finally, by
knowing the rotational orientation of a ablation or biopsy
catheter, this type of catheter may be easily directed and aligned
to tumors, stem cells, or other desired sites in an easy and
efficient manner.
Turning to FIG. 10, a method 230 for post-operative adjustment or
tuning of implants, such as a spinal implant, according to the
teachings of the present invention is disclosed. The method 230
also includes pre-operative planning, implanting, as well as the
post-operative exam procedure. In this regard, the method 230
begins at block 232 where pre-operative planning of the medical
procedure begins. The pre-operative planning proceeds from block
232 to either block 234 if an image based pre-operative plan is
conducted or block 236 if both an image and sensing pre-operative
plan is conducted. If an image based pre-operative plan is being
conducted, the method proceeds to block 238 where pre-operative
image data is acquired. The pre-operative images may be captured
from a four-dimensional CT scan, which provides for capturing
images over a specific time frame. In this regard, if the
pre-operative planning is for implantation of a cervical disc, the
patient may be asked to move his or her neck in different manners
to capture the image data over time. Alternatively, any other type
of imaging device 16 may be employed to either simply gather static
image data or image data over time. The captured image data may
also be used in conjunction with the electromagnetic tracking
system 44, as discussed herein. Another example of pre-operative
planning using a tracking system is disclosed in U.S. Pat. No.
6,470,207, entitled "Navigation Guidance Via Computer-Assisted
Fluoroscopic Imaging," issued Oct. 22, 2002, which is hereby
incorporated by reference. Other types of pre-operative planning
using a tracking system may also be employed. This image data is
then analyzed at the analysis data block 240, further discussed
herein.
Should the pre-operative planning proceed to block 236, which
employs the image and sense-based pre-operative planning, this
procedure will capture image data and sense parameters at block
242. In this regard, the captured image data may be the same image
data that is captured at block 238. In addition to the captured
image data, various parameters in the area of interest may also be
sensed during the pre-operative planning state. In this regard,
probes or sensors maybe placed in the area of interest to sense the
parameters, such as temperature, pressure, strain, and force
motions. For example, in a cervical disc implant, sensors may be
positioned between adjacent vertebrae of interest to measure
temperature in certain areas, which may indicate friction or
impingement. Likewise, strain gauges may be positioned to measure
forces to identify areas having unacceptably high forces between
the vertebrae. Again, this data is then analyzed at block 240.
At block 240, the data from either the image based or the image
sense based pre-operative planning is analyzed. Should the data
only include image data from block 238, this image data may be used
to identify areas of interest, the patient size, and be used to
assist in preparing the surgical plan. By viewing this data, such
as 4D data, which is essentially 3D data over time or static image
data, certain abnormal or irregular movements in the area of
interest may be identified. These areas may be identified by visual
examination, by performing finite element analysis or other known
motion analysis to create a 3D model of the captured image. The
finite element analysis may include calculating the instantaneous
center of rotation "x" or make this determination from the image
data itself. The overall shape of the spine may also be analyzed
via the image data to identify and determine various force vectors
on the discs of interest by analyzing the entire spine, the
curvature of the spine and the articulation area of the angle of
the spine relative to the ground. This information may be used to
find force vectors and loading on the various regions of the
vertebrae of interest. Should the sensed parameters also be used,
or alternatively only be used, these sensor readings, which can be
measured statically or actively while the patient is moving are
utilized to again identify points of interest or potential abnormal
activities by sensing parameters, such as temperature, pressure,
stress, and strain in the area of interest.
Once the data has been analyzed at block 240, the procedure
proceeds to block 243, where the implant and the type of procedure
is selected. The implant is selected, based on the various
abnormalities identified in order to enable the surgeon to resolve
the noted abnormalities. The implant is selected based on various
parameters, such as material selection, performance
characteristics, stiffness, style or implant type and sizing. Once
the type of implant has been selected, sizing of the implant may
also be pre-operatively performed, based on the data captured and
analyzed at block 240. Sizing may be performed using known sizing
templates, which provides the surgeon with a visual means of
correlating the size of the implant to the area of interest.
Alternatively, various sized templates automated in software may
also be included and stored within the work station 36 and
superimposed in the area of interest to provide a visual indication
of the sized implant to select. In addition to selecting the type
and size of the implant, the type of procedure to position the
implant may be determined pre-operatively.
Once the size and type of implant is selected, as well as the type
of procedure, the procedure proceeds to block 244. At block 244,
the selected implant is implanted generally under surgical guidance
in the area of interest. For example, a cervical disc implant may
be implanted, as illustrated in FIGS. 8a-8g. However, any other
type of implant procedure may also be performed to position the
selected implant, which may include a non-surgically guided
procedure. Other exemplary types of surgically guided procedures
are set out in U.S. Pat. No. 6,470,207, entitled "Navigation
Guidance Via Computer-Assisted Fluoroscopic Imaging," issued Oct.
22, 2002; U.S. Pat. No. 6,434,415, entitled "System For Use in
Displaying Images Of A Body Part," issued Aug. 13, 2002; and U.S.
Pat. No. 5,592,939, entitled "Method and System for Navigating a
Catheter Probe," issued Jan. 14, 1997, all of which are hereby
incorporated by reference.
After implantation, there is a recovery period, exemplified by
block 246. The recovery period will vary depending on the type of
procedure, the type of implant, the patient's medical history and
age, and other variables. During this period, the area of
abnormality surrounding the implant may also heal and recover. For
example, if a cervical disc was implanted, the muscular structure
surrounding this area, which may have previously been
overcompensating because of the abnormality may now have returned
to a normal state. These surrounding structure changes, may affect
the way the implant was positioned within the patient or the
performance characteristics of the implant. In this regard, if the
implant was positioned based upon abnormal surrounding structure,
the implant may subsequently not provide the full range of motion
as anticipated, thereby potentially resulting in further surgeries
being required. Alternatively, the initially selected performance
characteristics of the implant may have changed to due subsequent
healing or other actions, thereby rendering the initial performance
characteristics inappropriate for the current patient's condition.
These performance characteristics can be any type of
characteristics regarding the implant, including stiffness,
actuation, loading, range of motion, etc. With the implant being an
adjustable or tunable implant, corrections may be made to
compensate for any subsequent anomalies observed by the surgeon.
Again, the anomalies may result from healing of surrounding tissue,
incorrect initial placement, changes in performance
characteristics, or any other reasons. It should also be pointed
out that if undesirable performance characteristics result after
healing, the surrounding tissue and discs may also be damaged or
deteriorate, thereby compounding recovery time and maybe requiring
additional implants. This is the reason that providing the proper
performance characteristics after healing is so critical.
After the patient has healed for some time, a post-operative exam
is performed, exemplified at block 248. This post-operative exam
may be conducted in different manners, depending upon the type of
implant, the type of sensors and controls available with the
implant, as well as the types of adjustments available with the
implant. Some implants may have adjustment capabilities that
require minimally invasive percutaneous type procedures, while
other implants can be adjusted telemetrically or adaptively, as
further discussed herein. The pre-operative exam may also be
carried out using various types of equipment, again depending upon
the capabilities of the implanted device, further discussed
herein.
The pre-operative exam includes a motion analysis study,
represented by block 250. This motion analysis study generally
involves articulating the area of interest to determine range of
motion, strength, etc. During this motion analysis study, the
patient 14 is typically put through various motion testing. This
testing may include various calisthenics, treadmill performance,
weight lifting, gate analysis, etc. The motion analysis 250 can be
performed and studied using an image-based procedure, set out at
block 252, a sensor-based procedure, set out at block 254, or an
image and sensor-based procedure, set out in block 256. It should
also be pointed out that while block 250 is labeled motion
analysis, the analysis can be performed via static image-based
procedures or static sensor-based procedures, which are
contemplated and included in the motion analysis study 250. In this
regard, as opposed to putting the patient through various motion
tests, the static image data or sensed data can be obtained and
reviewed, via the image-based block 252 or the sensor-based block
254 to determine if the performance characteristics have changed.
These static studies would simply look at the proper placement,
impingement, etc. in the areas of interest to be used for
subsequent post-operative tuning, further discussed herein.
The image-based procedure may be performed by either employing a
localization or navigation tracking system or capturing image data,
such as 3D or 4D image data, by an imaging device, such as a 4D CT
imaging device. Should the motion analysis study be performed using
localization or navigation technology, capturing image data and
registration is performed as disclosed herein. U.S. Pat. No.
6,434,415, entitled "System for Use in Displaying Images of a Body
Part," issued Aug. 13, 2002, also discloses pre-operative planning
using navigation technology, which is hereby incorporated by
reference. In general, pre-acquired image data may be obtained, for
example, in the cervical spinal region. Before this image data is
obtained, fiducial markers and localization sensors may be attached
to each vertebrae of interest. Once the image data has been
captured with these sensors in place, the patient 14 may be
positioned on a treadmill with the tracking system 44 placed in
proximity to track the motion of each vertebrae. This motion can
include a gate analysis study of the patient's motion as well.
Before the motion analysis begins, the navigation space of the
patient 14 is registered to the pre-acquired images. Once the
patient 14 begins the motion or movement for the motion analysis
250, tracking of the moving vertebrae may be captured and
illustrated on a display, such as the display 10, or any other
display.
If localization and navigation technology is not employed, image
data may simply be captured over time during the motion analysis
250, for example, by the use of a four-dimensional CT scan. With
this image data captured, each individual vertebrae may be
segmented out using known segmenting algorithms. These types of
algorithms generally involve thresholding or templates, which will
segment out each vertebra in the scan. Once each vertebrae is
segmented out, finite element analysis may be performed using known
finite element analysis. The finite element analysis may also be
used to calculate the instantaneous center of rotation "x". The
information gathered during motion analysis 250 is used to
determine the necessary adjustment of the implant at block 258.
This information may include visualization of impinged areas around
the implant, misalignment, etc.
Should the motion analysis be sensor-based, as illustrated at block
254, the sensor readings of various parameters are used to
determine if there is any necessary adjustment, at block 258. The
sensor based approach may either take readings from sensors located
within the implant or from sensors attached to the patient during
this analysis. The sensors may take temperature readings, which can
indicate potential friction and higher forces, strain or stress
readings, as well as load readings or any other parameter readings.
Again, this information is used at block 258 to determine the
necessary adjustment to the implant.
At block 256, both an image and sensor-based motion analysis may be
conducted. This analysis essentially combines the image data at
block 252 and the sensor data at block 254 to perform the
post-operative analysis of the patient. Again, this information is
used at block 258 to determine any necessary adjustments of the
implant. When using both the image and sensor-based motion
analysis, the sensed parameters may be synchronized in time with
the image data to provide information on when the sensed parameters
were captured relative to the time and the image.
At block 258, the data captured during motion analysis 250 is
studied to determine whether any adjustments are necessary relative
to the implant. For example, if a cervical disc was implanted and
the patient healed and subsequent spinal alignment occurred, the
range of motion may be compromised. In order to provide the proper
range of motion, post-operative tuning of the implant may be
necessary, based on the motion analysis study 250.
The post-operative tuning of the implant may also be necessary when
the performance characteristics of the implant have changed.
Performance characteristics may be selected, based on various
criteria, such as when the patient is in a relatively static state,
thus requiring certain performance characteristics, as compared to
when the patient is in vigorous active state, where the performance
characteristics must be changed. For example, the spinal implant
may not need significant stiffness in a relatively static
condition, while in very active condition, the spinal implant may
require a stiffer cushioning. The performance characteristic may
have been selected when the patient was disabled, so that once the
patient heals, the performance characteristics may have to be
adjusted accordingly. This adjustment may be conducted using a
minimally invasive adjustment procedure at block 260 or a
telemetric adjustment procedure at block 262.
In the minimally invasive adjustment at block 260, percutaneous
adjustment of the implant may be performed by actuating various
adjustment mechanisms within the implant, further discussed herein.
For example, adjustment screws may be positioned at hinge points
within the implant and engaged by a driver in a minimally invasive
type procedure to provide the proper adjustment, thereby
reacquiring the proper range of motion, via adjusting the
articulating surfaces of the implant. Adjustment of the performance
characteristic, such as stiffness may also be performed, as further
discussed herein.
Should a telemetric adjustment procedure be performed at block 262,
a non-surgical adjustment would be performed. In this regard, the
implant may be driven telemetrically, using known telemetric type
wireless systems, such as that disclosed in U.S. Pat. No.
6,474,341, entitled "Surgical Communication Power System," issued
Nov. 5, 2002, which is hereby incorporated by reference or any
other known wireless telemetric systems. The telemetric system may
be an RF based or electromagnetic based telemetric system, as is
known in the art. The implant may be a passive or active battery
powered device that includes motors, pumps or any other devices
used to adjust the implant, further discussed herein.
Once the adjustments have been performed, the procedure proceeds to
block 264 where the adjustment is confirmed. If the adjustment is
proper, the procedure ends at block 266. If not, further
adjustments are performed. This pre-operative and post-operative
procedure provides better initial implantation accuracy and implant
selection, as well as the opportunity for post-operative tuning or
adjustment of the implant. The post-operative tuning enables
adjustment of articulating surfaces, supports, or other parameters
within the implant post-operatively without requiring revision
surgery.
Referring to FIGS. 11 and 12, an instrument assembly that includes
a mounting platform 268 and an attachment jig 270 for use in a
surgical navigated spinal procedure is illustrated. The mounting
platform 268 is percutaneously attached to a series of vertebrae
272, via multiple K-wires 274. In this regard, the mounting
platform 268 is positioned outside the patient's body and above the
vertebrae 272 of interest. The mounting platform 268 may be sized
to span any number of vertebrae 272. In this example, four
vertebrae 272 are spanned with the mounting platform 268 with the
first and fourth vertebrae being secured to the mounting platform,
via K-wires 274. The mounting platform 268 is designed to retain
the spanned or captured vertebrae 272 in a relatively fixed or
rigid manner during the spinal disc implant procedure. With the
first and last vertebrae captured via the K-wires, the intermediate
vertebrae 272 are generally held in a substantially fixed manner.
Upon removing cartilage and other intermediate material between
adjacent vertebrae, additional K-wires may be necessary for the
intermediate vertebrae 272 to maintain the rigid structure.
The mounting platform 268 generally includes a rectangular-shaped
beam 276 and a pair of outer attachment members 278. The
rectangular beam 276 defines a plurality of peg holes 280, which
are used to adjustably and removably retain the jig 270, along the
member 276. The rectangular beam 276 also defines access and
viewing holes or ports 282 enabling access from above and viewing
of the relevant vertebrae. These access windows 282 can also be
used to receive or pass surgical instruments during the medical
procedure. Each attachment member 276 defines K-wire holes 284,
which slidably receive the K-wires 274 in order to retain and
secure the mounting platform 268 relative to the vertebrae 272.
An exemplary positioning jig 270 is illustrated in further detail
in FIG. 12 and is operable to be removably attached to the mounting
platform 268, as shown in FIG. 11. In this regard, the jig 270
includes attachment peg 286 that is slidably received within holes
280. Positioned adjacent to the peg 286 is a pair of shoulders 288
that extend on either side of the rectangular beam 276 as the peg
286 is received within the hole 280. The jig 270 may be positioned
along any part of the rectangular beam 276 by simply slidably
inserting the peg 286 into one of the selected holes 280.
Alternatively, any type of attachment mechanism to attach the jig
270 to the mounting platform 268 may be used. Once the peg 286 is
positioned in one of the selected holes 280, the jig 270 is
positioned substantially between a pair of vertebrae 272 in which
the surgical procedure will be performed. The jig 270 further
includes a work platform 290 that defines a passage 292 and
includes a securing mechanism 294. The work platform 290 is
positioned at an angle relative to the mounting platform 268 to
provide intervertebral body access. The angle 296 illustrated with
jig 270 provides for a 45.degree. working platform 290. It should
also be pointed out that multiple jigs 270 may be provided with the
working platform 290 being positioned at various angles or the jig
270 may be adjustable to vary the angle, via a hinge or an
adjustment mechanism between the working platform and the body of
the jig 270.
The working platform 290 enables various instruments to be attached
to the working platform, via the attachment mechanism 294, which
may be a screw attachment, quick lock attachment, snap-fit
attachment, or any other type of attachment mechanism. In one
embodiment, a robot 298 may be attached to the working platform
290. This robot 298 may be remotely controlled and be used to drive
milling, drilling, resection, or other instruments 300 through the
passage 292. The robot 298 can either actuate the motor for the
instrument 300 or can simply provide and act as an adjustable guide
tube that may be controlled directly or remotely. Any type of known
robotically controlled instrument may be utilized. Alternatively,
the jig 270 may retain a manually adjustable guide tube that
receives various instruments to be used during the procedure. The
adjustable guide tube may also be lockable into a desired position
in order to provide a rigid guide tube. Still further, the jig 270
may simply be used to pass and guide various instruments between
the vertebral bodies 272. In this regard, the instruments as
illustrated in FIGS. 8a-8g may be used in accordance with the jig
270 or other jigs providing various types of access ports 292.
These access ports may be circular, slotted or any other shaped
port to enable access between the vertebral bodies 272.
Generally, the mounting platform 268 will not include any
localization sensors 58 or fiducial markers 60. The localization
sensors 58 are generally positioned relative to the jig 270. The
localization sensors 58 may be positioned on the guide tube and on
the surgical instrument to determine orientation and depth of the
surgical instrument 300, respectively. The localization sensor 58
may also be positioned on the robotically controlled device 298 to
determine both orientation and depth of the instrument 300. The
mounting platform 268 may also include localization sensors 58 if
desired, which may be used to provide further localization of the
vertebrae 272. It should further be pointed out that the dynamic
reference frame 54 may be attached or integrated into the mounting
platform 268 in order to provide increased accuracy during the
implant procedure. In this regard, since any motion of the mounting
platform 268 would be identified, via an integrated dynamic
reference frame 54, this motion is positioned substantially
adjacent to the area of interest and the area being operated upon,
providing increased registration and tracking of the instruments
during the procedure.
By providing the mounting platform 268 that spans multiple
vertebrae, multiple segment implantation may be performed in a
minimally invasive and surgical navigated manner between the
multiple vertebrae 272. For example, as illustrated, three separate
cervical discs may be positioned between the four vertebrae 272
without requiring removal or replacement of multiple jigs as would
typically be necessary. By providing a mounting platform 268 that
can accommodate various size jigs and can be positioned between
various vertebrae 272, a more precise and accurate implantation may
be achieved in a more minimally invasive and efficient manner.
A ball and socket type cervical disc implant 302 is illustrated in
FIG. 13 that provides for percutaneous adjustment. The cervical
disc implant 302 is based upon the Prestige.RTM. and/or Brian.RTM.
Cervical Disc System or the Maverick Lumbar System.RTM., both
provided by Medtronic Sofamor Danek of Memphis, Tenn., and may
include a tuning or adjustment capability. It should also be
pointed out that while a cervical disc implant is disclosed herein,
the present invention is not limited to merely cervical disc
implants, but may include thoracic and lumbar spinal implants, as
well as any other type of orthopedic implant that may require
post-operative tuning. The cervical disc 302 comprises two
articulating members that include a socket member 304 and a ball
member 306. The socket member 304 includes a mounting flange 308
that defines generally two mounting holes 310 for receiving bone
screws 312. The socket member 304 also defines the articulating
socket 314 and is generally placed at an angle relative to the
flange 308. Located at the junction between the flange 308 and the
socket 314 is an adjustment or hinge region 316 defining an
adjustment slot 318. Located within the adjustment slot 318 is an
adjustment screw 320. Upon percutaneously engaging a head 321 of
the adjustment screw 320, via any known driving instrument, the
angle 324 between the flange and the socket 314 may be adjusted,
via a wedge portion 322, in a minimally invasive manner. The head
321 may include a hex, a Phillips, a slotted, or any other type of
engagable drive mechanisms that can be engaged by any type of
instrument. Moreover, the adjustment screw 320 may be reversed so
that the head 321 is located opposite, at 90.degree., or at any
other orientation other than as illustrated to provide a different
access point for the head 321.
The ball member 306 also includes a flange 326 defining screw holes
328 to receive bone screws 312. The ball member 306 also includes
an articulating ball or spherical surface 330 that articulates with
the socket 314. The flange 306 also includes adjustment or tuning
portion 332 that defines a slot 334 for receiving another set screw
320 having head 322. Again, upon adjustment of the set screw 320,
the angle 336 between the flange 326 and the ball 330 is adjusted
in a minimally invasive manner, via percutaneous placement of a
surgical driver that engages the head 321 of the adjustment screw
320.
By providing tuning or adjustment portions 316 and 332 relative to
the ball 330 and socket 314, adjustment of the articulating ball
330 relative to the socket 314 may be made. Again, after a motion
analysis 250 has been performed, a minimally invasive adjustment of
the implant 302, such as the implant shown in FIG. 13 may be
performed by simply adjusting set screws 320. This adjustment may
relieve impingement, increase range of motion, or provide other
post-operative adjustments that would previously require a revision
type surgical procedure.
Referring now to FIG. 14, a modified embodiment of the cervical
disc 302 is illustrated. In this regard, like reference numerals
will be used to identify like structures as shown in FIG. 13. The
implant 302 provides for a telemetric type adjustment, as well as
telemetric sensing capabilities. In this regard, the socket member
304 includes an actuator/controller 338 and a sensor 340 positioned
along the articulating surface of the socket 314. Likewise, the
ball member 306 also includes an actuator/controller 342 and a
sensor 344 positioned along the articulating ball surface 330. The
sensors 340 and 344 may be used to sense various parameters in the
articulating joint, including temperature, pressure, stresses,
strain and other loading properties. These sensors 340 and 344 may
be used during the sensor based motion analysis 254 to sense the
noted parameters during the motion analysis study 250. This sensed
information is sent to its corresponding actuator/controller 338 or
342, which is able to telemetrically transmit information, further
discussed herein, during this sensor based motion analysis 354.
Each actuator/controller 338 and 342 may either be a passive type
device or an active rechargeable battery powered device. If the
actuator/controllers 338 and 342 are passive type devices, they may
include resonant LC circuits, which will resonate when adjacent
generating coils, generate an electromagnetic field, thereby
enabling transmission of the sensed information from sensors 340
and 344. An example of such a system is set out in U.S. Pat. No.
6,474,341, entitled "Surgical Communication and Power System,"
issued Nov. 5, 2002, which is hereby incorporated by reference.
Other types of known wireless telemetric systems may also be
utilized. Actuator/controllers 338 and 342 may also be battery
powered using rechargeable batteries that are either embedded
within the implant or positioned remote from the implant and
implanted within the patient, similar to known pacemaker
technology. These rechargeable batteries may be recharged
telemetrically similar to existing pacemaker batteries, as is known
in the art.
If the system is a passive system, the data may be acquired from
the corresponding sensor during the motion analysis study 250 in
the post-operative exam 248 during the various motion tests
performed on the patient 14. This information is gathered at the
time of the study and is used to analyze whether or not further
adjustments are necessary to the implant 302. Alternatively, if the
system is an active system and battery powered, data may be sampled
over time, stored in memory and transferred during the motion
analysis study 250 or during other transfer periods, as further
discussed herein. With this type of telemetric system, the implant
302 may be adjusted remotely by driving either actuator/controller
338 or 342 to remotely adjust the adjustable set screw 320, via
known actuation type mechanisms. Again, while a hinge/set screw
adjustment mechanism is shown, any other appropriate adjustment
mechanism may be employed, such as worm gears, pinions, etc. Thus,
telemetric adjustment 262 may be performed by simply positioning a
corresponding transmit and receiving instrument adjacent to the
implant site to both receive sensor information and remotely drive
the actuators/controllers 338 and 342 to provide remote telemetric
adjustment of the implant in a non-surgical manner. By adjusting
either the angle 324 or the angle 336, the range of motion,
contact, articulating surface adjustments, or other type of
adjustments to relieve impingement and increase the range of motion
may be performed in a post tuning technique. Briefly, FIG. 15 shows
the implant 302 implanted between a pair of vertebrae 272 and
aligned, such that the instantaneous center of rotation are
properly positioned within the center articulating longitudinal
axis Y of the spine (see FIG. 8a).
Referring to FIG. 16, another embodiment of a cervical spinal
implant 346 is illustrated. The spinal implant 346 is based on the
spinal disc prosthesis, set out in U.S. Pat. No. 5,674,296,
entitled "Human Spinal Disc Prosthesis," issued Oct. 7, 1997 and
U.S. Pat. No. 5,865,846, entitled "Human Spinal Disc Prosthesis,"
issued Feb. 2, 1999, each of which are hereby incorporated by
reference. That is also known as the "Bryan Cervical Disc System,"
offered by Medtronic Sofamor Danek of Minneapolis, Minn. The spinal
implant 346, however, also includes a tuning and adjustment
mechanism. The spinal implant includes a pair of rigid support
plates 348 and a pair of attachment flanges 350 that define
attachment holes to receive bone screws (see FIG. 8g). Positioned
between the support plates 348 is a flexible bladder device
352.
In order to provide for either minimally invasive or telemetric
adjustment of the implant 346, the bladder mechanism 352 is
separated into a plurality of individual bladders 354. As
illustrated, the implant 346 includes three adjacent bladders 354.
Located within each bladder 354 is a sensor 356 that is used to
sense the pressure within each bladder 354. These sensor readings
are passed to a bladder control system 358. The bladder control
system 358 may again be a passive device or an active battery
powered device. If passive, the sensor information will be received
during the motion analysis study 250 and adjustment may be
performed telemetrically during this study using known telemetric
driving devices. If the bladder control system 358 is an active
powered system, the system may either operate similar to the
passive system or may be an adaptive system that provides real time
adjustment for the implant 346. In this regard, each sensor 356 may
sense pressure differences in each bladder 354 while the bladder
control system 358 attempts to equalize the pressures in the
bladders 354 in a real time manner. The bladder control system 358
includes a processor controller 358 and either a battery or known
passive driving device. The bladder control system 358 also
includes a pump used to transfer fluid retained within the bladders
354 by controlling remote valves 360 and a memory if necessary for
storing sampled data.
The implant 346 may also include a reservoir 361 that retains a
drug that may be delivered through the external valve 360 and
controlled by the bladder control system 358. In this way,
controlled drug delivery to the surrounding bone may also be
achieved with the implant 346. The drug can include a bone
morphagenic protein (BMP) that is able to increase bone density and
fusion of broken bones, by delivering the BMP over time to the
surrounding infected bones. This drug delivery capability of the
implant 346 may be actively delivered if the system is
battery-powered, or telemetrically delivered, via an active or
passive device during patient exams. Delivery systems may be any
appropriate drug delivery system. For example, the drug delivery
system may be substantially programmable, such that the drug is
delivered according to a preprogrammed schedule from a selected
reservoir. Alternatively, the drug delivery system may be
substantially wireless, such that the drug is delivered due to a
wireless command. Although it will be understood that any
appropriate drug delivery system may be used in conjunction with an
implant.
In operation, the implant 346 may be used to sense pressure in each
individual bladder 354, via the sensors 356 during the
post-operative motion analysis 250. With this information, a
surgeon can direct the bladder control system 358 to compensate for
any abnormalities in pressure in the bladders 354 in order to try
to achieve uniform pressure throughout the implant 346. The
bladders 354 generally include a saline solution that can be
transferred between bladders 354, via the bladder control system
358 and control valves 360. In addition, there is an external valve
360 that may be used to release saline fluid harmlessly into the
body to relieve pressure. Alternatively, the external valve 360 may
be used to receive additional fluid percutaneously in a minimally
invasive way. Thus, the implant 346 may be post-operatively
adjusted or tuned, depending upon the healing of the patient,
post-operative trauma, or to provide further refinement and
increased performance of the implant 346.
Alternate embodiments of the implant 346 is illustrated in 16a-16c.
Here again, like reference numerals are used to identify like
structures. The spinal implant 346 is substantially similar to the
spinal implant illustrated in FIG. 16, except that the spinal
implants illustrated in FIG. 16a-16c are multi-segment implants 346
that allow for a minimally invasive technique and a posterior
implantation approach. The implant 346 illustrated in FIG. 16a
includes a pair of rigid support plates 348 that include a hinged
region 349. This hinged region 369 includes a single hinge that
enables the implant 346 to be substantially compressed so that the
plates 348 are adjacent to one another. Once adjacent to one
another, the plates 348 may be folded via the hinge region 349
creating a semi-circular shape that is significantly smaller than
the whole implant 346. This enables the implant to be implanted
posteriorly in a minimally invasive manner by simply sliding the
folded implant 346 into a small incision and re-assembling or
unfolding the implant 346, along the hinge region 349 at the
implant area. The hinge 349 also includes a lock 351 that is used
to lock the hinge 349 to insure that each plate 348 is locked in a
planar fashion. Once locked, the implant 346 is positioned between
the adjacent vertebrae 242 similar to that shown in FIG. 16.
Implant 346, illustrated in FIGS. 16b and 16c also includes a
hinged region 349 that consists of a pair of hinges positioned on
either side of the flange 350. Again, the hinge region 349 enables
the end plates 348 to be folded, as illustrated in FIG. 16c to
enable a posterior minimally invasive procedure. This implant 346
also includes a lock 351 that rotates to lock the pair of hinges in
the hinge region 349 in a substantially planar manner.
Another embodiment of the spinal implant 346 is shown in FIG. 17,
which provides a different type of adjustment mechanism. Here
again, like reference numerals will be used to identify like
structures. Again, the spinal implant 346 includes a pair of
supporting plates 348, a pair of flanges 350 and a support or
bladder device 352. Located within the bladder device 352 is a
single bladder 354, which can be filled with a saline solution, or
optionally not filled with fluid. Again, sensors 356 are located in
different regions within the bladder 354 and used to either sense
fluid pressure or used as a strain gauge to measure loading forces.
The readings from the sensors 356 are read by a force control
system 362, which can again either be a passive device or a battery
powered active device. The force control system 362 operate similar
to the bladder control system 358, except that as opposed to
directing fluid between various bladder chambers, it includes force
control beams or members 364 that are used to apply a force to the
plurality of springs 366 positioned within the bladder 354. By
compressing the springs 366 in different quadrants with the control
beams 364, tension in the springs 366 are increased, thereby
providing additional support within the implant 346. Each spring
may be selectively adjusted, depending upon the desired tuning or
adjustment necessary. Again, this adjustment is based upon the
motion analysis study done during the post-operative exam 248.
The force control system 362 may be used to adaptively or actively
adjust the implant 346 if the force control system is an active
battery powered system. Alternatively, the force control system 362
may adjust the force within the implant 346 during the telemetric
adjustment 262 if the system is simply passive. The bladder control
system 358 and the force control system 362 may be formed using
conventional micro electronics and mechanical devices or may be
formed from micro electromechanical system (MEMS) technology, known
in the art.
A multiple segment implantation is illustrated in FIG. 18 that
includes multiple implants 368. Each implant 368 may be implanted
utilizing the mounting platform 268 and jig 270, as illustrated in
FIGS. 11 and 12. Implants 368 may also be implanted using other
procedures, such as that shown in FIGS. 8a-8g. Each implant 368
includes a sensor 370 and an adjustment actuator 372, similar to
that shown in FIGS. 14, 16, and 17. However, each implant 368 is
controlled and actuated, via an active rechargeable battery powered
external controller 374. Optionally, each implant 368 may include
its own individual internal controller 374 that can communicate to
the other implants 368, via a wireless or wire connection.
Alternatively, a single internal master controller 374 may be
positioned within one of the implants 368, which is used to control
and drive the remaining implants 368 in a master/slave
relationship.
Controller 374 is used to sense various parameters again, such as
temperature, pressure, etc. where actuators 372 are used to tune or
adjust each implant 368 accordingly. The controller 374 may be
implanted adjacent to the spinal region, similar to a controller
and battery for a pacemaker. The multiple segment implantation with
each implant 368 communicating with the other surrounding implants
368 enable real time adaptive control of this spinal region, such
as the cervical spinal region of the patient 14. In other words,
the controller 374 may sense, via the sensors 370 whether any one
of the implants 368 is under too much pressure or one may be too
laxed and adjust accordingly, depending upon the patient's
movements. In this regard, when the patients at rest, extra support
between the vertebrae 272 may not be necessary. However, when the
patient 14 is doing physical activities or exercise, additional
support may be necessary between each vertebrae 272 and each
implant 368 may be expanded during this period in an adaptive
manner. Alternatively, the controller may again simply be a passive
controller or an active controller and used to send and receive
information, as well as adjust the implants 368 during the
post-operative exam 248, via the telemetric adjustment 262.
Turning to FIG. 19, an exemplary telemetric system used for
performing the motion analysis 250 is illustrated. In this regard,
the patient 14 may undergo the motion analysis 250 by exercising on
a treadmill 376. The treadmill 376 is positioned within a
transmit/receive module 378. When the patient 14 is positioned
within the transmit/receive module 378 and exercising on the
treadmill 376, information can be collected from the particular
implant during the motion analysis 250 using the sensor based 252
data analysis, via the telemetric adjustment 262. In other words,
the transmitter/receive module 378 includes signal transmitters and
receivers to either actuate a passive or active controller to
receive sensed information. This information is forwarded to a
control processor 380 where the surgeon can analyze the collected
sensed data. Once the data has been analyzed, the controller 380 is
used to actuate the transmit/receive module 378 to adjust one or
more implants in the patient, via the control actuator circuits,
disclosed above. It should also be noted that an imaging device may
also be positioned adjacent to the patient 14 while the patient is
on the treadmill 376 to provide both an image-based and a
sensed-based motion analysis 250, as previously discussed.
Referring now to FIG. 20, another telemetric system used to
transmit motion analysis information to the doctor is disclosed.
With this technique, the patient 14 can simply conduct a self
analysis by positioning him or herself adjacent to a computer 382.
Attached to the computer 382 is a transmit/receive module 384. The
transmit receive module 384 operates similar to the transmit
receive module 378, except that the patient 14 can simply run
through a set of suggested motions, while the transmit receive
module 382 telemetrically receives information from the implant
positioned within the patient 14. This information can be
transmitted, via the computer 382 online to a receiving hospital or
doctor's office. The doctor may then analyze this information, make
a recommendation to the patient 14 whether the patient 14 should
come in to the office for a telemetric adjustment 362 of the
patient's implant. Alternatively, the doctor may also simply
instruct the transmit control module 384, via the computer 382, to
perform the telemetric adjustment of the patient 14 in the
patient's home.
The procedure 230, as well as the associated implants, systems and
instruments, enables both pre-operative and post-operative review
and analysis. Additionally, post-operative tuning of the implant
may also be achieved without requiring revision surgery or highly
invasive types of procedures. In this regard, either minimally
invasive or telemetric adjustments of the implants may be
achieved.
As discussed briefly above, with reference to FIG. 10, an analysis
of data in block 240 can be performed prior to selecting an implant
or procedure in block 243 and implanting an implant under surgical
guidance in block 244. As discussed briefly above, various
considerations can be used when selecting an implant and a
procedure in block 243. For example, the abnormalities to be
corrected, a selection of implants or grafts to fix the abnormality
and various procedures to resolve an abnormality may be considered
together or individually. Therefore, it will be understood that a
plurality of substeps or steps may occur when selecting the
implant/procedure, such as briefly described in block 243 and
implanting an implant under surgical guidance as in block 244.
The following description may be a separate procedure or may be
understood to be any part of the procedure 230 and particularly
included within block 243 and 244, regarding selecting an implant
and implanting an implant under surgical guidance 243, 244. It will
be further understood that although the following discussion may
relate generally to a disc or nucleus replacement or implant, that
any appropriate implant or procedure may be used. For example, the
procedure and systems may be used to plan and select a procedure
for any appropriate abnormality such as a humeral head or stem
abnormality, a knee abnormality, a shoulder abnormality or any
other abnormality. Therefore, the planning and implantation of the
disc or nucleus is merely exemplary and not intended to be
limiting.
With reference to FIG. 21, a method of selecting an implant and
procedure, such as in block 243 in FIG. 10, is illustrated in
diagram or method 400. Briefly, the method 400 may also be referred
to as a planning system or software that may be used to select an
implant and procedure for assistance in resolving or in improving
abnormality of the anatomy. The planning system may include
software integrated into the workstation 36 for planning a
procedure and selecting an appropriate implant for the patient.
Broadly, the system 400 can assist a surgeon or user in making
judgments regarding a selected implant, such as size, geometry,
volume and the like and performing a procedure to achieve a result
once the selected implant is positioned. For example, the system
and method may assist a surgeon in removing a selected amount of
tissue before placing an implant relative to the anatomy.
Determining a substantially precise amount of tissue to be removed
may assist in performing a procedure within fairly strict
boundaries such that it may be helpful to achieve a selected
outcome that may be most preferable for a patient.
In addition, the method may assist in selecting an implant that
most precisely meets a predetermined size, shape, and other
requirements to assist a patient. For example, for a motion
preserving device, such as a nucleus, prosthetic disc, femoral
implants, knee implants, or the like, substantially precise
placement and preoperative planning may be used to increase the
effectiveness of the implant. Therefore, various image gathering
techniques and devices can be used to assist a user, such as
surgeon, in selecting an implant for a procedure and ensuring that
a patient is substantially prepared for the procedure. This
preparation and planning may ensure that the most appropriate
implant is selected and precisely placed for completing the
procedure. Therefore, using various navigation systems and
techniques and image acquisition systems may assist in
substantially precise planning to assist in a procedure. The
parameters that may be considered include the type of implant,
implant shape or geometry, implant size, placement and kinematic
analysis of proposed implants.
The method 400 starts at block 402 by acquiring a patient image.
The patient image may be acquired in any appropriate manner, either
a time before the operative procedure or during the operative
procedure, as in an operating room prior to performing a surgical
procedure on any portion of the patient. For example, as discussed
exemplary herein, the images may be acquired of the patient prior
to removing a selected portion of the spinal column, such as a
nucleus or a disc. Therefore, the acquired images of the patient in
block 402 are generally of the patient in a preoperative or natural
state. The images may be acquired with the patient in any
appropriate manner. For example, the images may be acquired using a
MRI, a CT scan, x-rays, fluoroscopic C-arm, ultrasound or any other
appropriate method including imaging methods discussed above.
Therefore, it will be understood that the images may be collected
in any appropriate manner.
The images may be collected to be displayed on the display 10, or
any appropriate display, prior to and during an operative
procedure. The display 10 may be connected to the work station 36
for use during an operative procedure. In addition, the display 10
may be connected to a different work station for different portions
of the procedure. For example, the work station 36 may be provided
for an operative procedure to ensure that the planned procedure
occurs and for navigation. Nevertheless, a different work station
may be provided for the planning of the procedure, as described
herein and the procedure and images stored for later use. It will
be understood that various images may be acquired of the patient to
allow for modeling and planning of a selected procedure as
discussed herein.
With additional reference to FIG. 22, the display 10 may first
display a preoperative or planning screen 404. The preoperative or
planning screen 404 may include a plurality of images that may be
different depending upon a selected procedure. For example, in a
spinal procedure, the preoperative display screen 404 may include a
plurality of images including a first vertebrae 406 and a second
vertebrae 408. The images may include a sagittal plane view 410, a
coronal plane view 412 and an axial view 414. The various views may
allow for a substantial visualization of an area of interest such
as a selected disc 416 that may include a nucleus 418.
The disk 16 may include an annulus which surrounds the nucleus 418.
This difference between the annulus and the nucleus may be a
difference in the viscosity of the materials or rigidity of the
materials. Generally, the annulus surrounding the nucleus 418 may
be substantially more rigid or less fluid than the nucleus 418.
Therefore, it will be understood that an implant to replace either
the annulus of the disk 416 or the nucleus 418 of the disk 416 may
include similar properties or may be cured, such as with materials,
time, radiation and the like, to achieve selected properties.
During the preoperative stages, the various images may be achieved
by obtaining a plurality of images of a patient, such as through
various known methods and any appropriate method. In addition, the
views may include models, such as a multi-dimensional model or 3-D
model, of the selected portion of the anatomy. Therefore, various
images, such as plurality of CT, MRI or X-ray images may be used to
create the various views 410-414 and may be also used to create
two, three, or other dimensional models of the area of interest or
an atlas model may be used as well. The various models or images
formed of the models may also be used for aligning or selecting an
implant during an implant procedure. For example, the models may be
moved and the implant aligned along the plurality of planes, such
as the coronal or sagittal plane and any other appropriate view,
such as an axial view. Alternatively, no model may be made and
simply the two, three, or four dimensional images or image data
acquired may be used for planning and carrying out the
procedure.
These various views and models may allow a user, such as physician,
to determine various dimensions of selected areas such as the disc
416. Therefore, the physician may be able to measure a distance H
that may include a height of the disc 416. Various other
measurements such as width W of the disc 416 and depth D may also
be measured. These measurements may be found due to various
modeling that allows for a coordinate system including at least
three axes, X, Y and Z. This may allow a physician to determine a
selected volume of the disc 416. A volume of the nucleus 418 may
also be determined using these or other various measurements. In
addition, the model may be used to precisely determine a plurality
of measurements, greater than the height, width, and depth of the
disc 416 to precisely determine a volume of the nucleus 418.
Alternatively, as discussed herein, a template program may be used
to position an image relative to the models or image data of the
patient to determine various dimensions. Therefore, the
preoperative images may be used to determine a selected size or
shape of a portion of the anatomy.
In addition to determining a selected size, geometry, volume, and
dimension or other size characteristics, a user may also determine
various other characteristics of the anatomical portion or an
implant to replace the anatomical portion. For example, the user
may determine that a selected viscosity of rigidity of the implant
may be positioned in the area determined in the planning screen
404. For example, an user may determine that a selected viscosity
is required to provide an implant to replace the nucleus 418. As
discussed herein, during the planning stage the user may also
determine an amount, type, duration and other specifics to cure a
selected material to achieve various characteristics of material to
achieve a planned procedure. These determinations may be provided
with kinematic analysis performed by the workstation 38.
It will be understood that although the display 10 exemplary
includes a view of the spinal area that any appropriate portion of
the anatomy may be imaged. For example, a proximal portion of a
femur may be imaged to determine a volume of a femoral head and
intramedullary canal for various procedures, such as a femoral head
implant. Therefore, it will be understood that acquiring a patient
image in block 402 may be used to acquire any appropriate image of
the patient and an image of the spine is merely exemplary.
With reference to FIGS. 21 and 22, as discussed above, the images
acquired in block 402 may be used to form the model of the patient
in block 422. This model may be two, three, or four-dimensional
model, as discussed above, and may be placed in a coordinate system
and can be used to determine a plurality of dimensions and volumes
in block 424. The dimensions and volumes, including height H, depth
D, width W, and volumes of selected portions, such as the nucleus
418, may be determined by positioning a navigable probe or
instrument such as the probe 62 relative to selected portions of
the anatomy such as the disc 416 or the vertebrae 406, 408.
In addition, various reference frames may be attached to selected
portions of the anatomy, such as the dynamic reference frame 54. In
addition, separate dynamic reference frames may be affixed to the
vertebrae 406, 408 to allow for a dynamic determination of the real
time position of vertebrae 406 relative to the vertebrae 408 and
vice versa. Also, various fiducial markers or anatomical landmarks
may be used to reference the anatomical portions for registration,
as discussed above, such as the vertebrae 406, 408, in the
system.
Alternatively, the images or models positioned in the coordinate
system may be used to relatively determine sizes. Therefore, the
measurements may be substantially precise in determining the
various dimensions and volumes of the selected portions of the
anatomy. The dimensions determined in block 424 can be known to be
substantially correct due to the actual image data acquired of the
patient to form the digital model of the anatomy in question.
The image produced on the planning screen 404 may be used to model
the anatomical portion with a selected implant or with a selected
anatomical motion. The model of the anatomical motion may assist a
user in selecting an appropriate implant to achieve a desired or
selected anatomical motion. Therefore, it will be understood that
the images and planning screen may be used to plan a plurality of
characteristics for an implant or procedure as discussed herein.
The system and method 400 may be used to determine a selected size,
geometry, type of implant, position, physical characteristic
including viscosity and malleability and other appropriate
characteristics. It will be understood, therefore, that those
characteristics discussed herein are merely exemplary of the
characteristics that may be planned and selected using the system
400.
With reference to FIG. 21, it will be understood, however, that
forming a model is not necessary. Although a model may be useful to
assist in navigating and planning a procedure, the image data alone
may be sufficient to perform the procedure. The image data may be
used to determine or select an implant to achieve a selected result
by substantially matching or providing a dimension of the
anatomical portion with an implant or procedure.
The dynamic reference frames may be any appropriate type such as
optical, acoustic, electromagnetic, and the like. It will be
understood that any appropriate dynamic reference frame may be
used. It will also be understood that a dynamic reference frame may
not necessarily be used if the portions of the anatomy are
substantially fixed relative to one another. The images on the
display 10 may be referenced with an instrument, such as the probe
62, and the relative spatial positions of the various portions of
the anatomy are then known as long as the portions of the anatomy
do not substantially move relative to one another. Therefore,
dynamic reference frames may not be necessary, but may be used to
assist in tracking the real time position of the patient during the
surgical procedure, further discussed herein.
With reference to FIG. 21, once the dimensions are determined in
block 424, a procedure may be determined in block 426. Again,
although a selected portion of the spine, including vertebrae 406
and 408, are illustrated in the display 10 any appropriate portion
of the anatomy may be modeled in block 422 and dimensions thereof
or relative thereto are determined in block 424. Therefore,
although a procedure may be determined relative to the vertebrae
406, 408, any appropriate procedure may be determined in block 426.
Nevertheless, the procedure determined in block 426 may include
preparing the disc 416, replacing the disc 416 with a prosthetic
disc, or replacing the nucleus 418 with a prosthetic nucleus. Any
other appropriate procedure may be determined in block 426, such as
fusing various vertebrae, such as the vertebrae 406, 408 in the
spine. A medication or material may be provided, such as a bone
morphogenic protein (BMP), when fusing selected vertebrae of the
spine. The material may be provided during the procedure or after
the procedure, such as being released from the implant. In
addition, the model formed in block 422 and the dimensions obtained
in block 424 can be used to verify the appropriateness of a
procedure for a patient. The method 400 may be used to confirm a
procedure that was pre-selected. The models and the implant
dimensions that may be modeled can confirm the appropriateness of
the selected procedure.
Determining a procedure in block 426 may also include determining
exactly what will occur during an operative procedure. In addition,
it may also include determining the amount of tissue to remove,
determining an amount of resection, determining a substantially
ideal distraction height, and the like. For example, if it is
determined that the nucleus 418 must be removed or replaced,
determining the procedure in block 426 may also include determining
the volume of the nucleus 418 to be removed and from where.
Therefore, if the volume of the nucleus to remove is about 10 cc,
this may be determined by determining the procedure in block 426.
The exact amount may be determined because of the dimensions taken
in block 424 using the model formed in block 422. An exact amount
of removal may also assist in achieving a selected result. The
procedure may include a selected volume of material removal and the
selection and positioning of an implant may substantially rely on
material removal. Therefore, the tracking and planning system and
method allows for a substantially pre-operatively chosen resection
plan and implant.
Once the procedure is determined in block 426, an implant may be
selected in block 428. Selecting the implant in block 428 may
include selecting an appropriate type of implant, selecting an
appropriate size of an implant, including a volume, size, geometry
and other appropriate considerations and confirming that the
implant may achieve selected results from the patient. These
results may also include kinematic studies based on using a
selected modeled implant. It will be understood that a kit 462
(FIG. 24) may be provided having a plurality of implants from which
an implant may be selected to perform the procedure selected in
block 426. Alternatively, an implant may be substantially custom
designed for the procedure determined in block 426. Therefore, the
implants may be preformed or formed after determining the procedure
in block 426 to achieve selected results.
If the kit 462 includes a plurality of known implants, including a
known size, shape, geometry and other known characteristics, the
implant may be modeled in the images from the patient in block 430.
Therefore, the implant selected in block 428 can be modeled with
the model made in block 422 and block 430. Because the dimension
and size of the implant selected in block 428 is known, it can be
positioned in the model of the patient formed in block 422 to
ensure that the selected implant will achieve a selected result. It
is generally known in the art to provide selected algorithms in
computer programs to provide for dynamic, kinematic, or static
modeling of a selected portion of the anatomy to ensure that a
result is achieved.
Also, an implant may be modeled in block 430 that has been
digitally augmented or digitally created to achieve a selected
result. Therefore, a template or general sizing program may be
provided. The work station 36 may be able to operate the template
program which includes a plurality of template shapes, sizes,
geometries and volumes to form the implant selected in block 428
which can be modeled in the anatomy in block 430.
For example, with reference to FIG. 23, the display 10 may include
a plurality of views of the anatomy substantially similar to the
plurality of views of the anatomy of a display 10 including the
screen 404. Here a screen 440 may include a display of a selected
portion of the anatomy including a template program. With reference
to a sagittal plane view 442, a template shape, such as a square
444, may be illustrated relative to the vertebrae 406, 408. Because
of the modeling, various dimensions of the template shape 444, such
as height, width, depth, volume and other appropriate dimensions
may be known, changed and/or adjusted. The template shape 444 may
be moved, sized, and the like by a user, such as a physician, to
achieve a selected fit between the vertebrae 406, 408. Once the
physician has determined that a selected or desirable shape and
size has been achieved, the dimensions of the template shape 444
may be known due to the fact that the model has been substantially
rendered and determined in three dimensions. This modeling with the
template shape 444 can also be used to determine precise
dimensions, such as volume, geometry, size, and the like as
discussed above.
The template 444 may also be any other appropriate program. For
example, the template 444 can be a portion of the program that
allows for computer aided designing of an implant. In addition,
relatively more simple drawing programs can be used to draw an
implant to form the template shape 444 that may be used to later
define an implant for the spine. That is the template program 444
or template design may be any portion of a program that allows a
user, such as a physician, to model a selected portion of the
anatomy, such as the selected position or removal area of the disc
416 for selecting and/or designing an implant to be used in the
procedure. In addition, various implants may be imaged and
positioned in the system to be used as the template program 444.
Regardless, it will be understood that any appropriate method or
program may be used to define the template 444 for defining and
selecting an area of the anatomy for an implant or designing an
implant.
Therefore, the generic template 444 may be sized on the display
screen 440 to meet a selected result to allow for choosing a
non-pre-saved implant. In addition, the template shape program 444
may be used to form a substantially custom implant for implantation
into the portions of the anatomy. It will be understood that the
template shape 444 as a part of a template program can be used to
determine a size and model it in block 430 to determine whether the
template shape dimensions and sizes 444 may be used to achieve
selected results within the patient. Also, any appropriate shape
may be used including oval, spherical and others. Moreover, the
shape need not be uniform, but may include a unique geometry. The
shape may also be used to determine the volume of tissue to be
removed, as well as from where the tissue should be removed.
In addition to the template shape program 444, a non-saved implant
shape may be substantially real-time modeled into the work station
36. Briefly, an implant may be referenced or shaped defined with an
instrument. For example, the probe 62 may be used to touch a
plurality of points on the non-saved implant to determine a
plurality of points in shape relative to the implant. The plurality
of points can then be integrated using the work station 36 to
substantially model the non-saved implant shape within the work
station 36 such that the real time model implant can be modeled in
the block 430 to determine whether it will meet the determined
procedure in block 426.
In addition, an implant may be modeled using a plurality of
methods, such as an MRI, a fluoroscopic imaging device, and the
like. In an intraoperative procedure to form a model of the implant
that may then be positioned relative to the images on the screen
10. Therefore, rather than having the work station 36 model the
implant from a plurality of points determined with the probe 62,
the work station 36 may model the implant using image data captured
by selected imaging devices. Even other imaging devices, such as a
scanner, including a three-dimensional scanner, and the like may be
used to scan the image of an implant.
Therefore, it will be understood that all types of implants may be
used in the method 400. Implants using predetermined dimensions may
be modeled in block 430 as may be a general template program shape
444 and a substantially real time shape determined implant. The
method 400 may be substantially used with any appropriate implant
or procedure. Similarly, it will be understood that known implants,
sizes and dimensions, template shapes and real time determined
implants may be used for a plurality of procedures in addition to a
spinal procedure. For example, knee portions, femoral portions,
humeral portions and the like may also be modeled in block 430 with
a selected portion of the anatomy.
Once the implant has been modeled in block 430, it can be
questioned in block 450 whether the model implant modeled in 430
achieves the selected results or characteristics. If the answer is
No in block 452, the selection of the implant can be reselected in
block 428 and then remodeled in block 430. Therefore, it will be
understood that the selection of the implant may be iterated until
the selected implant achieves the selected results or
characteristics and the answer is Yes in block 454. The decision
can be determined either by the surgeon doing the procedure, or the
processor, either in the workstation 36 or other processor, can
assist in its determination based upon running known anatomical
kinematic modeling.
The processor in the workstation 36 can be used to determine an
implant that may best relieve the modeled abnormality. For example
a plurality of similar procedures may be saved such that the
processor may determine a possibility that a previously used
implant may achieve a similar result in the instant situation. For
example, the system may suggest a particular implant based upon the
size of the patient and a previously performed procedure with a
patient of similar size. Moreover, the processor may use the
modeled patient and the known implant dimensions, types, etc. to
replace a selected volume or tissue or achieve a natural or
selected kinematic motion.
A plurality of implants may be provided to be modeled in block 430.
The plurality of implants may assist in assuring that a
substantially selected outcome is achieved. The selection may be
substantially reduced due to determining the procedure in block 426
and selecting an implant to substantially achieve the procedure in
428. In addition, it will be understood that each of these steps to
block 456 may be performed substantially preoperatively. The images
of the patient may be obtained in block 402 and the model made of
the patient in block 422 may be performed substantially before the
patient ever reaches an operating room. Therefore, known and
unknown implants may be modeled in the patient model in block 430
to determine whether a selected result can be achieved in block
450. That is, known implants can be modeled in the model in block
430 or the template program 444 can be modeled in the patient in
block 430 to ensure that the implant selected during the procedure
may achieve a selected result. Nevertheless, it will be understood
that the modeling may occur substantially intraoperatively to
assist in assuring that the implant selected for implantation may
achieve the result without later confirmation or that later
confirmation may substantially ensure achievement of the selected
result.
Nevertheless, once the implant has been selected in block 428 and
it has been determined that the implant will achieve selected
results in block 450 and the Yes determination block 454 is
achieved, the procedure of implanting the implant may proceed.
In selecting and determining an appropriate implant, it will be
understood that various models, both static and dynamic, may be
created. Any of these models may be optionally stored in block 456.
That is, the models may be electronically stored in the work
station 36 or may be stored in a substantially permanent form, such
as printout. Nevertheless, the model that may be stored in block
456 may be used in assisting a physician during an operative
procedure. As discussed herein, the stored models may assist a
user, such as physician, in ensuring that an appropriate
positioning of the implant has been obtained and that an operative
procedure has been successful in implanting the implant. Moreover,
by storing and identifying the proper implant for a particular
shape and size patient, the method or system 400 may also suggest
an appropriate size implant based upon the pre-acquired image data
and upon storing and identifying the implants to the particular
size patients. In this way, the selection process may be quicker by
saving or providing implants that are initially suggested that are
very close to the proper size and shape.
Regardless, it will be understood that the steps 402-456 of the
method 400 may occur substantially preoperatively. That is, the
images may be acquired of the patient in block 402 and the various
models and testing performed to select an appropriate implant and
procedure for the patient. This may be done prior to the patient
being brought to an operative theater and may reduce trauma to the
patient and time in the operating theater. It may also reduce the
time of the operative procedure to decrease time of healing and
increase post-operative return to a normal life of the patient. In
addition, it will be understood that each of the steps may occur
during an operative procedure. Even during the operative procedure,
the planning and selecting of a particular procedure and implant
may reduce the time of the operative procedure, for example, in
place testing and trialing may be reduced due to the preoperative
modeling of the implant.
Whether or not the planning and modeling occurs pre or
intra-operatively, the procedure may proceed to implanting the
implant in the patient. Similar to block 244 in FIG. 10, the
implant may be implanted with surgical guidance. It will be
understood that the implant may be implanted in any appropriate
manner and need not be guided using any appropriate mechanism, but
navigation of various portions may be provided. Nevertheless, it
will be understood that the procedure may be substantially guided
to assist in performing the operative procedure.
As described herein, each of the instrument for removing or
resecting selected anatomical portions, the instrument for
positioning or implanting the implant, and the implant itself may
be substantially navigated or tracked using appropriate mechanisms.
For example, tracking sensors may be affixed to any of the
appropriate portions (FIG. 24B) and the tracking sensors may
include acoustic, optical, electromagnetic, radiative and the like
to be tracked by a tracking array to determine a position of any
portion of the assembly. For example, a probe or instrument may be
tracked which may position a selected implant, such as a nucleus
implant, to assure that the nucleus implant is positioned in a
selected position. If the nucleus implant includes a curable
material, such as with UV curing, the UV source may be tracked as
well to ensure that a selected portion of the material is
irradiated with the UV radiation. Therefore, it will be understood
that substantially all portions of removing, implanting, and curing
selected implants may be navigated. In addition, the positions and
properties or characteristics of the implant may be substantially
confirmed, as discussed herein, using various tracking sensors.
With reference to FIG. 21, generally the operative procedure may
begin by obtaining the selected implant in block 460. With
additional reference to FIG. 24A, the exemplary implant kit 462 may
be provided either pre- or intraoperatively. The kit 462 may
include a plurality of implants from which a selected implant, such
as the selected implant selected in block 428 may be selected. The
kit 462 may include a plurality of types and sizes of implants. For
example, the kit 462 may include a plurality of disc prosthesis
464. For example, the prosthesis may include a disc prosthesis such
as a Maverick.TM. 466, a Prestige.TM. 468, or a Brian.TM. 470
offered by Sofamor Danek of Memphis, Tenn. These various types of
disc prosthesis 466-470 may also come or be obtained in a plurality
of sizes depending upon the selected implant selected in block 428.
Furthermore, the kit 462 may also include a plurality of nucleus
implants such as an implant described in U.S. Pat. No. 6,620,196
entitled "Intervertebral Disc Nucleus Implants and Methods"; U.S.
Patent Application Publication No. 2003/0023311 entitled
"Intervertebral Disc Nucleus Implants and Methods: and U.S. Patent
Application Publication No. 2003/0199984 entitled "Intervertebral
Disc Nucleus Implants and Methods"; the disclosures of each
incorporated herein by reference. The implant 474 may be used to
replace a selected volume of the nucleus 418. It will be understood
that other nucleus prosthesis or implants may be provided such as a
prosthesis 476 which may be known as the PDN.TM. by Raymedica, Inc.
of Bloomington, Minn., and described in U.S. Pat. Nos. 5,674,295;
5,824,093; 6,132,465; and 6,602,291, each is incorporated herein by
reference.
Alternatively or in addition, a volume filling material such as a
braided implant 478 or flowable material may be provided in a
bladder implant 479a, illustrated in FIG. 24B, or alone. The
bladder implant 479a may be positioned and filled with a flowable
material with an instrument 479b. The bladder 479a may include one
or a plurality of the tracking sensors 52. Likewise, the instrument
479b may also include one or a plurality of the tracking sensors
52. Therefore, the position of the instrument 479b, the position of
the bladder 479a, the shape of the bladder 479a, and size of the
bladder 479a may all be tracked, as discussed herein. The tracking
may occur for both implantation and verification of a
characteristic of the implant. Various flowable materials may be
positioned relative to the anatomical portion, such as to replace
the nucleus 18 or the disk 416. Various implants include those
described in U.S. Pat. No. 6,306,177, incorporated herein by
reference.
The flowable material may be free flowed into the area of the
nucleus or may be flowing into a package which is implanted in the
area of the nucleus 418 or the disk 416. The material that is
flowed into the implant may also be substantially cured to achieve
selected characteristics, such as a selected rigidity or viscosity.
As discussed herein, various instruments may be tracked relative to
portions of the anatomy and portions of the implant. For example,
the implant package may include tracking sensors such that various
portions of the package may be tracked as it is filled with a
selected flowable material. A curing source, such as a UV source,
can then be tracked relative to the flowable material to determine
a selected curing of the material. The curable material may include
a characteristic that changes depending upon the amount of curing
that occurs. Therefore, the tracking of the UV source or any other
appropriate curing source can be used to achieve selected
characteristics that are substantially heterogeneous, yet precisely
positioned, within the implant.
As discussed above, the volume of a selected area, such as the
volume of a nucleus 418 may be determined using the various
modeling techniques. Therefore, a selected volume of the volume
filling implant 478 may be provided to substantially precisely fill
the planned removed volume of the nucleus 418.
Regardless, it will be understood that the kit 462 may provide or
include a plurality of various implants. The various implants may
either be part of a pre-formed kit or may be pre-selected and
determined depending upon the implant selected in block 428.
Therefore, the kit 462 may be substantially customized for a
particular procedure because of the implant selected in block 428.
The kit 462 may also include a plurality of implants from which a
selection may be made after the planning and substantially
intra-operatively. Nevertheless, obtaining the selected implant in
block 460 may include selecting an implant from the kit 462.
Alternatively, it may include designing and obtaining a
substantially custom implant for a selected patient. Because the
implant selected in block 428 can be modeled and altered for a
selected patient and verified in block 450, the implant obtained in
block 460 may be substantially customized for a particular
patient.
Once the implant is obtained in block 460, a tracking sensor may be
attached in block 480 to the selected implant obtained in block
460. The tracking sensor 58 may be any appropriate tracking sensor
such as those discussed above, including electromagnetic, optical,
and acoustic. Connecting the tracking sensor in block 480 may
optionally allow for substantially dynamically determining the
location of the obtained implant relative to the selected portion
of the anatomy. As discussed herein, the implant may be
substantially guided with selected navigation systems, such as
those described above, to allow for substantially precise placement
of the implant. As discussed above, the implant may be modeled in
the anatomy and a selected position confirmed in block 450 for
efficiency. Therefore, navigating the implant to a selected
position using navigation systems may assist in assuring that the
implant achieves its selected or preselected location or the target
can be super-imposed on the image data. Nevertheless, it will be
understood that connecting a tracking sensor to the implant is not
required or may occur at any appropriate time before implanting the
implant into the selected anatomical position. If a tracking sensor
is used, it may be registered within the patient space. This allows
the position of the implant to be determined in a real time
manner.
Once the implant has been obtained, the selected area of damaged
tissue may be removed in block 482. The damaged tissue being
removed may generally include the tissue that is selected during
selecting the procedure in block 426. Removing the damaged tissue
in block 482 may include removing a selected portion of the nucleus
418, removing a selected portion of the disc 416 or other
appropriate portion. It will be understood, however, that removing
the damaged anatomical portion in block 482 may also include
removing any selected portion of the anatomy depending upon the
selected procedure such as a femoral head, a humeral head, or other
appropriate portions. Therefore, removing a selected portion of the
nucleus 418, as discussed herein, is merely exemplary and not
intended to limit the scope of the following claims.
In removing the damaged anatomical portion in block 482, an
instrument may be navigated in block 484. Navigating the instrument
in block 484 may be performed using any appropriate navigation
system or technique. As discussed above, the tracking sensors 58
may be connected to the instrument 52 to perform a selected
procedure. It will be understood that the instrument 52 may be any
appropriate instrument, such as a scalpel, a reamer, a suction
device, and the like. In addition, the tracking sensors 58 may be
any appropriate sensors such as optical sensors, electromagnetic
sensors, acoustic sensors and the like. It will also be understood
that the sensors 58 can be registered and tracked within the
patient space to assist in removing a selected portion of the
anatomy in block 482. This area in which tissue is to be removed
may also have a template super-imposed onto the image data of the
tissue that should be removed, as discussed herein. By also
super-imposing the surgical instrument on the image data, a real
time precise image of the amount of tissue removed can be tracked
by the system. Once the procedure is planned, it will be understood
that any appropriate mechanism may be used to perform the
procedure. As discussed herein, the tool or the navigation of the
procedure may be displayed on the monitor 10.
Alternatively, a substantially automated or robotic system may be
used to perform the predetermined or pre-selected surgical plan,
substantially autonomously or with supervision. Therefore, it will
be understood that the selected or determined plan may be performed
according to any appropriate method, such as with a user or with a
robotic system. In addition, the robotic system may be a partial
robotic system that includes a portion that is exterior to the
patient or that is substantially contained within the patient, such
as that illustrated in FIGS. 11 and 12.
With reference to FIG. 25, a cutting or removing tool may be
displayed as an icon 486 and may be displayed on a screen 487 on
the display 10. The instrument 486 may be graphically illustrated
relative to the nucleus 418. The graphical display of the
instrument 486 may allow a user, such as physician, to graphically
see where the instrument 486 is relative to the image of the
anatomy and/or nucleus 418. For example, it may be selected to
substantially remove the nucleus 418 during a procedure. Therefore,
on the screen, a graphical display of the nucleus 418 may also be
shown. Alternatively, the icon 486 may be displayed relative to an
acquired image of the patient. In addition, a graphical display of
an area removed 488 and a selected area to be yet removed 490 may
be illustrated. Therefore, a physician may graphically see which
portion of the nucleus 418 has not been removed 490 and which
portion has been removed 488 and the boundaries of the nucleus 418.
Therefore, a selected amount, that may be preselected, may be
removed and which portion has and has not been removed may be
illustrated on the display 10. In this way, by preselecting the
volume of tissue to be removed and tracking and verifying that the
tissue has been removed the selected implant may properly fit
within the patient.
Navigating the instrument and illustrating it graphically 486 on
the screen 488 may ensure that the selected procedure in block 426
is substantially achieved. During the selection of the procedure in
block 426 it may have been selected to remove a selected volume of
the nucleus 418 and navigating the instrument may ensure that the
planned procedure is achieved. As discussed above the various
instruments may be registered and then tracked within the selected
space, such as the patient space to ensure that the location of the
instrument is known and can be displayed properly as the graphical
display 486.
Navigating the instrument in block 484 may assist in ensuring that
the determined procedure, determined in block 426, is substantially
achieved. This may be useful when providing an implant for a spinal
procedure, such as replacing the nucleus 418. Briefly the nucleus
418 may include a selected volume that is desirable to be
substantially replaced. Therefore determining the procedure in
block in 426 may include determining a selected volume of the
nucleus 418 to be removed. Using the tracking system, the
instrument 486 may be displayed on the screen 487 to be used to
ensure that the determined procedure is performed. This may allow
the selected implant selected in block 428 to substantially achieve
the selective results determined in block 450.
After navigating the instrument in block 484 to remove the damaged
anatomical portion in block 482, the implants obtained in block 460
may be positioned in block 492. Positioning the implant may also
performed with use of the tracking system. As discussed above a
tracking sensor may be connected in block 480 to the implant prior
to attempting to position the implant in block 492. Also the
implant may be substantially positioned by visualization of a user,
such as a physician. Regardless after the damaged tissue is removed
in block 482 the implant can be positioned in block 492.
With reference to FIG. 26, the display 10 may display an implant
navigation screen 500. The implant navigation screen 500 may
include a plurality of views of the selected portion of the anatomy
such as a sagittal plane view 502, a coronal plane view 504 and an
axial view 506. Each of these views may show the removed nucleus
416 as a darkened area, or any appropriate manner. Alternatively,
the representation may be of the area to be filled with the
implant. In addition an implant instrument 508 may also be
graphically illustrated. The implant instrument 508 may also be
generally navigated and may include tracking sensors, such as the
location sensors 58. Again, it will be understood that the location
sensors 58 may be any appropriate location sensors and may be used
to create the graphical view of the implantation instrument 508 in
a substantially correct location. In addition, the implant
instrument 508, such as the instrument 479b (FIG. 24B), may include
a plurality of tracking sensors. The plurality of tracking sensors
may be positioned along a length or shape of the implant instrument
508 such that the implant instrument may be substantially flexible,
yet a precise location of each portion of the implant instrument
may be determined and illustrated on the screen 500.
A selected implant, such as the substantially deformable braid
implant 478 may be passed through the instrument graphically
illustrated as 508 and positioned in the area where the nucleus 418
was removed. Therefore a pre-selected volume of the deformable
tissue material 478 may pass through the instrument that may be
navigated to a selected position using the display 500. Due to the
determination of the procedure, the proper volume of the tissue
implant can be positioned in the selected portion of the anatomy to
ensure that selected results are achieved.
Alternatively, a deformable or shape memory implant, such as those
described in U.S. Pat. No. 6,620,196 may be deformed and passed
through an instrument that is graphically illustrated as 508. The
shape memory implant may be placed under a force to deform it to
allow it to be passed through a selected portion of the anatomy
into the area to which the nucleus 418 was removed. Once the forces
have been removed, such as when the implant passes out of the
instrument 508, the implant 474 may achieve a substantially shape
memory shape to fill the area of the removed nucleus 418.
As briefly discussed above (FIG. 24B), various implants may be
implanted that include a material, such as a flowable or curable
material, that is positioned within the portion of the anatomy,
such as to replace the nucleus 418 where the flowable or curable
material may be positioned in the bladder 479a that is positioned
within the portion of the anatomy or the flowable material may
simply positioned within the portion of the anatomy. If the
material is positioned within the bladder 479a, the bladder may
include a plurality of tracking sensors, such as an electromagnetic
tracking sensors, such that a size, geometry and the like of the
latter may be determined during the filling of the bladder.
Therefore, during the filling of the bladder, it can be determined,
with the tracking sensors and the tracking array, the size, shape,
position, and other characteristics of the bladder as it is being
filled. This allows the planned or preselected procedure to be
performed by tracking the filling, positioning, and the like of the
bladder 479a during the operative procedure.
In addition, the flowable material that may be flowed into the
bladder or into the anatomy itself may include any appropriate
material. For example, substantially natural materials such as bone
particles or the like may be injected, alternatively, substantially
synthetic materials may be implanted. For example, a curable
material, such as polymer that is cured with a radiation, such as
UV radiation, or a polymer that is cured with an activation
component, such as a generally known bone cements, may be used.
If a curable material is used that is cured with a selected curing
procedure, such as radiation with UV radiation, tracking of a probe
which applies UV radiation to the curable material may be
performed. This may allow substantially precise curing of a
selected area of the implant to a selected amount. For example, it
may be selected to cure a substantially posterior portion of the
implant to a selected amount to provide a selected characteristic
of the material while curing an anterior portion of the implant to
a different amount to provide a substantially different
characteristic of the material. For example, a longer curing time
may make the curable material substantially more viscous or rigid
and that a shorter cured time portion of the material is
substantially soft relative to the longer cured time material.
Therefore, the curing probe, such as the UV probe, can be
substantially precisely navigated relative to the curable material
to allow for precise curing times of various portions of the
material to provide various types of characteristics of different
regions of the material.
It will be understood, however, that various types of radiation may
be used, such as gamma or electron beam, to cure portions of the
material. Nevertheless, being able to substantially precisely
locate and track the position of the curing probe may allow for a
substantially heterogeneous implant, which is one that includes
different characteristics for different portions of the implant.
Also, other fillers, such as inorganic or organic fillers,
including calcium carbonate, titanium dioxide and the like may be
provided in a substantially precise places to alter the viscosity
of a material in that location. Again, the positioning of the probe
which introduces the materials into the implant may be tracked with
tracking sensors. In addition, or alternatively, various
reinforcing materials, such as metallic and non-metallic meshes,
may be used to reinforce portions of the implant to provide a
selected characteristic at a selected portion of the implant.
In addition, such as with the use of an inflatable bladder, the
bladder may include portions that may be adhered or interconnected
with the curable material such that the bladder may move at a
selected rate with the curable material or a portion of the
material, including a selected characteristic, is held relative to
a selected bladder portion. Therefore, it will be understood, as
discussed above, that the bladder may be substantially navigated to
ensure that the portion of the material that is engaging a selected
portion of the bladder is in a selected area, dimension, and the
like.
It will be understood that various other portions may be navigated
as well, such as coatings for the implant, modular portions of the
implant and the like. It will be further understood that the
tracking assembly may be used to substantially position an implant
to a substantially minimally or small invasive procedure without
substantial visualization or visually guiding of the implantation.
Therefore, the system 400 can be used to plan a procedure and
selection of an implant according to various selected
characteristics. For example, the system 400 may model the anatomy
through a substantially dynamic modeling and chose an implant to
achieve the desired dynamic model. Thereafter, the system 400 may
be used to substantially guide the implantation and procedure,
substantially non-visually, to achieve the selected results.
Therefore, visual implantation of the implant may not be necessary
due to various features, such as the tracking sensors and the
like.
Regardless of the implant selected, the implant may be selected due
to the determined procedure to ensure that the volume removed in
block 482 may be substantially filled or a selected anatomical
position be obtained after positioning the implant in block 492. It
may be possible that the determination of the procedure in block
426 and the selection of the implants in block 428 that the implant
may be pre-selected without trialing to ensure a proper or selected
fit. Therefore, positioning an implant may be done in substantially
a single step without necessity of trialing.
After positioning the implant in block 492, the position of the
implant may be confirmed in block 512. The confirmation of the
position of the implant can be confirmed in block 512
intra-operatively or post-operatively. If the position of the
implant is desired to be confirmed intra-operatively it may be
confirmed with an instrument such as the fluoroscopic imaging
system 16. The imaging system 16 may be used to obtain an image of
the selected area of the anatomy and display the image of the
selected area of anatomy on the screen 10. The implant may be
substantially viewable using the x-ray instrument or may include
markers, such as tantalum markers, dyes, or other appropriate
radio-opaque materials, to ensure that the instrument or implant
may be viewed post-operatively. Regardless, the confirmation may be
used to ensure that the implant has been positioned in the
predetermined position.
In addition, as mentioned above, various other wireless sensors may
be positioned in the implant. For example, electromagnetic tracking
sensors may be positioned in the implant, such that after the
implant is positioned a determination of a location, orientation
and the like may be determined for the implant using the tracking
system 44. Therefore, the position of the implant may be confirmed
using selected procedures, such as obtaining an image of the
implant, which may include substantially radio-opaque portions or
determining a location of the implant using various wireless
sensors. As discussed above, the implant, which may include the
bladder 479a or other appropriate portion, may include the tracking
sensors 58, such as electromagnetic sensors, that may be tracked by
a tracking array. Therefore, the tracking array, either intra or
post operatively, may be used to track a position or other
characteristic of the implant relative to the anatomy to ensure
that the position of the implant is the preselected position of the
implant. In addition, the tracking sensors may be used to ensure
that a selected volume, such as filled volume of the bladder, has
been achieved. Therefore, various portions, such as radio opaque
material, including dyes, tantalum or other marker, and the like
may be viewed using an X-ray source and/or tracking sensors may be
used to track a position of the implant such that the position or
characteristic of the implant can be substantially verified or
confirmed after the implant has been positioned relative to the
anatomy to ensure that the implant has been positioned in a
preselected portion of the anatomy in a preselected manner.
In addition or alternatively, the probe 68 may also be used to
indicate or touch a portion of plurality of points of the implant,
such that the work station 38 or the system may be used to
determine the precise location of the implant. The precise location
of the implant may then be modeled relative to the anatomical
portion and displayed on the screen 10. Regardless, it will be
understood that the implant may be modeled or viewed as an image on
the screen 10 relative to the anatomy to insure that the implant is
positioned in a selected position. In addition, a predetermined or
preselected position may be superimposed or underimposed relative
to the image of the patient to insure that a substantially matching
of the implant implanted position is relative to the selected
position.
In addition, further modeling may occur in the confirming of the
position in block 512 to ensure that the dynamic movement of the
implant as positioned will achieve selected results. In addition, a
virtual or digital subtraction method may also be used to determine
or confirm a selected location of the implant. Such a system is
generally described in U.S. patent application Ser. No. 10/116,631,
entitled Method And Apparatus For Virtual Digital Subtraction
Angiography, filed Apr. 4, 2002 the disclosure of which is
incorporated herein by reference. Briefly, the work station 38 may
be used to intraoperatively subtract or compare a preoperative or
planned position with the post implantation position. For example,
an image of the patient may be taken preoperatively for the
planning procedure and an image of the patient may be taken after
the implant has been positioned, both may also be substantially
intraoperatively. The two images may then be compared and both may
be enhanced substantially virtually to substantially insure a
selected position of the implant or a selected position of the
anatomy after positioning of the implant. The images may be taken
in any appropriate manner, such as with a fluoroscope or MRI, or
the like. Therefore, the images may be substantially virtually
compared along a plurality of planes, such as two-dimensional
planes, or comparing various three-dimensional models of the
anatomy.
Therefore, it will be understood that the implant may be positioned
in any appropriate manner as discussed above, and the position of
the implant may be confirmed in block 512. The confirmation of the
position of the implant may be performed in any appropriate manner,
such as with imaging the implant relative to a previous planned
image or modeling the implanted anatomy or implant relative to a
previous image. Regardless of the method used to confirm the
position of the implant, the confirmed position of the implant may
be done substantially intraoperatively to allow for a substantially
precise placement of the implant and a correct surgical
procedure.
The position, correct volume, geometry, and other appropriate
considerations, of the implant may also be confirmed with a
track-able probe or other instrument. The position of a probe may
be determined by use of tracking sensors positioned relative to the
probe that may be used to touch or determine the position of the
implant. This allows determining a position of the implant without
connecting tracking sensors directly to the implant. Tracking
sensors, however, may be included in the implant to be tracked to
ensure proper positioning of the implant.
After the position is confirmed by Yes in block 514, the patient
may recover in block 516. It will be understood that the
confirmation of positioning of the implant may result in a No in
block 518 and an additional placing in block 492 occurs. Therefore,
positioning the implant may be iterative until the decisions block
512 is Yes 514. Because the procedure was predetermined or
preselected in block 426, the implant may substantially be in a
position necessary to achieve selected results, such as a range of
motion. Therefore, the confirmation in block 512 may simply assure
the user that the implant has been positioned in the selected
location.
In addition, the patient recovering in block 516 may be reduced due
to the planning and reduced trialing. The planning procedure can
help ensure that an implant that may achieve a selected result in a
first instance rather than providing a plurality of trialing
instruments to attempt to achieve a selected result. As discussed
above, a selected volume of the anatomy may be removed
substantially precisely using the planning and navigation systems.
Then the implant may be selected to achieve a selected result, such
as substantially precisely replacing the resected anatomical
portion. Therefore, the trialing may be substantially reduced or
eliminated. In addition, optionally, if the implant is not
confirmed to be in a proper position then the implant may be
repositioned or positioned again in block 492. Only after proper
positioning of the implant or a confirmation thereof may the
patient be removed from the operative theater. This may also reduce
a need for a later procedure and assist in the recovering of the
patient.
It will be understood that the above-described system may be used
with any appropriate implants or for any appropriate implantation
device or system. For example, a bladder or other container device
may be positioned relative to a selected portion of the anatomy,
such as between the two vertebrae 406, 408 to be filled with a
material. Various systems may be used, such as those described in
U.S. Pat. Nos. 6,443,988; 6,306,177; and International Publication
No. WO97/26847, each incorporated herein by reference. The bladder
may be positioned relative to a selected portion of the anatomy
after the planning procedure has been determined and only a
selected or determined volume of material is then positioned within
the bladder. Therefore, the system may be used to preselect or
predetermine the volume of fluid to be positioned in the bladder to
allow for a selected result. Alternatively, other inflatable
devices may include those disclosed in U.S. Pat. Nos. 6,663,647;
6,641,587; 6,623,505; 6,607,544; 6,423,083; 6,235,043; and
5,927,015, each incorporated herein by reference.
In addition, various materials may be injected relative to a
selected portion of bone, such as bone cements and the like that
may fill a selected void or volume. Again, as discussed above, a
selected volume or bounds of material may be selected or determined
to perform the procedure. Therefore, the procedure may be planned
after determining a selected volume of fluid to be injected and
then injecting the selected fluid. Various systems for positioning
may include those described in U.S. Pat. Nos. 6,613,054 and
6,048,346, each incorporated herein by reference. Therefore, a
selected area may be determined to include a selected volume and
the procedure may be planned after determining a selected volume
and positioning the selected volume may then be navigated with the
system.
In addition, various other materials, such as various hydrogels or
dehydrated hydrogel materials may be positioned relative to a
selected portion of the anatomy. For example, an elastic,
elastomeric, and/or hydrogel material may be injected into a
selected portion of the anatomy. Various methods and systems may
include those described in U.S. Pat. Nos. 5,800,549 and 5,534,028,
each incorporated herein by reference.
Therefore, it will be understood that the system 400 may be used to
determine a selected volume, size, geometry, and the like that can
be filled with any appropriate implant. The system 400 can be used
to plan a volume appropriate to be implanted and the procedure may
then be performed according to the plan. In addition, as discussed
above, the system may be used to position a selected material, such
as bone morphogenic proteins, antibiotics, other medications, and
other bioactive materials, relative to a selected portion of the
anatomy and the system may be used to position the materials in a
selected delivery device relative to the anatomy.
The description of the invention is merely exemplary in nature and,
thus, variations that do not depart from the gist of the invention
are intended to be within the scope of the invention. Such
variations are not to be regarded as a departure from the spirit
and scope of the invention.
* * * * *